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Starting UR5e & Robotiq 2F-85

Pre-check

Before turning on the power, make sure that:

  • The control PC is connected to the UR5e controller with an Ethernet cable. control PC is the computer you use to control the manipulator with ROS.
  • UR5e controller is using the correct configuration. This is important because URCaps conflicts can impede gripper control. The only URCaps on the controller should be the externalcontrol-x.x.x.urcap and rs485-x.x.x.urcap URCaps.

Power

To turn on UR5e press the power button on the teach pendant. Gripper gets its power from the robot manipulator.

UR5e settings

Go to Settings -> System -> Network and configure the network settings. This is the UR5e_IP address that the control PC uses to control the arm.

# example configuration
IP address: 192.168.77.245
Subnet mask: 255.255.255.0

Go to Installation -> URCaps -> External control and configure the network settings for external control. This is the control PC IP address that UR5e uses to know where the control is coming from.

# example configuration
Host IP: 192.168.77.240
Custom port: 50002
Host name: 192.168.77.240