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MiRco industrial interface control

Before controlling MiRco it is recommended to read the MiRco interface chapter of the documentation.

Make sure to follow the industrial interface parts of the Starting MiRco instructions.

  • Design the UR program normally.

  • Design the MiR mission. In the place where you want to perform robot manipulation insert the UR -> Run UR program action. Set the program name parameter to the UR program absolute path without the .urp extension. MiR100 will wait for UR5e to finish program execution and then continue with its mission.

MiRco industrial interface mission

Usage

  • set UR5e to Remote control mode
  • add MiR mission to the mission queue
  • start mission execution in the web interface

Note

By installing a plugin for the Polyscope software package - a URCap, the functionality of the UR teach pendant can be extended. The plugin allows starting and stopping MiR100 missions, reading and writing MiR100 registers and accessing MiR100 states such as battery status, robot status and mission status. This documentation does not cover the use of this URCap.