Universal Robots EPICS Support Module

        

EPICS support module for controlling Universal Robots e-series arms (UR3e, UR5e)

Key Features

• Access to large number of UR robot commands and status information
• Control individual joints and end-effector position
• Define joint or Cartesian space waypoints with associated waypoint actions in EPICS PVs
• Define paths to move through a series of waypoints
• GUIs in MEDM, caQtDM, and CSS-Phoebus

Documentation

Full build instructions, IOC integration, usage guides, and PV reference: https://epics-modules.github.io/urRobot/

License

Copyright (c) 2026 UChicago Argonne, LLC. See LICENSE for details.