Hardware: CB2 UR5.

User manual: https://s3-eu-west-1.amazonaws.com/ur-support-site/18109/manual_en_UR5_CB2_1.5.pdf.

Code: https://github.com/arthur801031/cb2-ur5/tree/main

CB2 UR5s Setup Instructions

1. Turn on the UR5s by pressing the power button.

2. Initialize each UR5 by going into this screen.

   

   • Press “On”.
   • Press “Auto”.
   • For each joint, press the left or right arrow until the corresponding yellow light turns green. Note that the “Auto” button for each joint does not work. You need to manually move each joint to make the light turns green.
   • If everything has been initialized, you will only see the green lights (no yellow light).

3. VERY IMPORTANT: Go to this screen to set up the tool center point (TCP) for the gripper. The gripper does not come pre-built with the robot, so we need to set up the TCP for the gripper.

   

   • Change z to 174.0 mm.
   • Make sure the payload is 0.2 kg.

4. Now, the robots have been initialized. You want to establish connection (via Ethernet) with the robots. Currently, each robot’s control box has an Ethernet cable connected to the Ethernet switch. You want to make sure there is a Ethernet cable going from the Ethernet switch to the computer, so they are all on the same network.Follow this guide to change the pendant network settings for each robot arm and this guide to set up the PC’s network profile. Set up the following IP addresses:

   1. Ubuntu IP address: 192.10.0.10.
   2. Left UR5 IP address: 192.10.0.11.
   3. Right UR5 IP address: 192.10.0.12.
   4. Subnet mask: 255.255.255.0.

   • Basically, you’ll create an additional Internet profile specifically for the connection to the robot arms, which is explained by the network settings guide. You’ll have two Internet profiles: one connects to the Internet and the other connects to the robot arms via the Ethernet switch, shown in the video below.

     https://youtu.be/vGM0nEo6nBQ

5. Some Python scripts that I use to control the UR5s: git clone [[email protected]](<mailto:[email protected]>):arthur801031/cb2-ur5.git

6. Run python get_robot_pose.py to verify each robot can communicate with the PC. You should see two print statements: one for the left robot’s pose and the other for the right robot’s pose.

   • Note that we use the python-urx library to control the UR5s, so feel free to read up on its documentation.

7. Try out the other scripts for CB2 UR5.

Safety: Whenever you execute code for the first time that can move the robots, make sure to set the velocity and acceleration to very low values, and keep your hands on the emergency stop button. The robots are very fragile, so please exercise extra caution when using them.

Other Resources

Camera calibration: Move-It (Hand-Eye Calibration, Ubuntu 20.04/22.04)