EPICS support module for controlling Universal Robots e-series arms (UR3e, UR5e)
- 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
Full build instructions, IOC integration, usage guides, and PV reference: https://epics-modules.github.io/urRobot/
Copyright (c) 2026 UChicago Argonne, LLC. See LICENSE for details.