Simulate Universal Robots

Hello there,

Does anyone have an idea about connecting the I/O signals from the URSim to the VC simulation. What kind of variables need to be paired in server to simulation for the connection?

Thank you!

If you are using Visual Components Premium, open the Help file, and then go to Tasks > Connectivity and find the topic on RTDE plugin for UR Sim. It provides a list of supported data types and known issues.

Here is my configuration:

I’ll use URsim to open and close Robotiq 2f-85 fingers in the beginning of my program.

My program starts with:

Set DO[1]=On
Wait: 2.0
Set DO[1]=Off
Set DO[0]=On
Wait: 2.0
Set DO[0]=Off

From VC simulation side I have paired 2f-85 controll signals to UR server actual_digital_output_bits


Why not cross them :slight_smile:

Now in the begging of my UR-program VC model will open grippers fingers and then close them.

Hope this helps!