UR setup
Configure connections, the native runtime, and control modes for UR5 CB3, UR5e, or UR7e.
1. Choose the installation
Complete software installation on the control computer using the options for your UR generation:
| Robot | Installation options | Control runtime |
|---|---|---|
| UR5 CB3 | ur-cb3,gripper | The package provides RTDE control; no native build is needed |
| UR5e / UR7e | gripper | Build the native control runtime below |
In PolyScope, select a TCP at the flange center with zero positional offset, and configure the actual tool load. Connect the control computer and robot cabinet over wired Ethernet.
2. Build the e-Series control runtime
For UR5e / UR7e, run these commands in the Python environment containing RoboAPI 0.4.5:
sudo apt-get install -y build-essential cmake
python -m roboapi.hardware.ur.build --build-dir build/ur-native --install-dir "$VIRTUAL_ENV"The first build needs Internet access to download the specified URCL and Ruckig versions from GitHub. The executable is installed at $VIRTUAL_ENV/bin/roboapi-ur-loop, with its matching URScript under $VIRTUAL_ENV/share/roboapi-ur-loop/. Keep build/ur-native to reuse downloaded dependency sources.
Run this build for a first-time UR e-Series installation. Upgrading from 0.4.2–0.4.4 in the same environment does not require a rebuild; upgrades from 0.4.2 / 0.4.3 also complete the configuration update in Versions and upgrades. Upgrading from 0.4.1 or earlier still requires a rebuild. Skip this step for UR5 CB3.
3. Configure connections
roboapi initChoose the correct UR generation, controller IP, and gripper connection:
- URCap: enter the actual controller address in the gripper configuration. Access uses its socket, on port
63352by default; the controller must provide that gripper connection. - Modbus: access the gripper through a USB/RS-485 serial adapter on the control computer.
Enter the camera and model service settings, save, then start RoboAPI:
roboapi httpOpen http://127.0.0.1:8080/ on the control computer and check device connections and video. For access from your laptop, see software installation.
4. Calibrate and enable control
- Open Settings → Devices → Coordinate calibration and use PolyScope Local mode to teach Home and A/B/C.
- On e-Series, switch to Remote before Return to point 1, the automatic return Home after C, and Home, Enable control, or recovery operations. Switch back to Local for manual teaching.
- After you capture C, the browser automatically returns the arm Home, saves calibration, and initializes the arm and gripper.
- Perform the optional direction checks, select Done, then run your first task.
If you capture C while still in Local mode, the captured points are retained. Switch to Remote and select Retry when prompted to continue the return and save sequence. You do not need to capture the points again.
Later starts and motion range
Later starts open in preview. Use the saved calibration and select Enable control. Enabling control does not return the arm Home. Home and recovery operations physically move the arm.
In 0.4.5, the default motion range is 60 cm in each direction along each axis from Home. Adjust it in device settings. Model targets outside the range are clamped to its boundary while the task continues. If the arm is already outside the range before starting, return Home first. The range limits commanded targets; external forces, compliance, and tracking error can still move the physical arm outside it.
Use Robot Stop to stop the current run. Recalibrate after changing the camera position, tool assembly, Home, or task axes.