How to install a Force Torque Sensor on a UR CB3.0 ?

Explanation

From Polyscope 3.6.0, a breaking change is preventing our latest URCap version compatible with CB3.0 robots (1.0.3) to be installable. For this reason, the only way to control a Force Torque Sensor on a CB3.0 with Polyscope 3.6+ is to install the legacy driver package.

This Procedure works for both FT-150 and FT-300 sensor models.

With the latest Polyscope version

Any FT300 or Copilot URCap present on the robot must be uninstalled.

Download the Driver Package for Force Torque sensor version DFU-1.1.15 from robotiq.com/support/archive

Extract the content of the .zip file to the root of an empty USB drive.

The root of the USB drive should look like this:

The USB drive should be formatted in FAT32

Put aside the uninstall.sh. You will be needing it only to uninstall the driver package from the robot.

Connect the USB drive to a free port of the robot. You should see a big red "!USB!" on the screen. The driver should be uploaded automatically to the robot in a few steps.

Once a big green "<-- USB" can be seen, the USB drive can safely be removed from the robot.

No reboot is necessary. The driver, functions and sample programs will be present in the robot.

Uninstalling the Driver Package

To uninstall the driver package, the uninstall.sh file must be renamed to urmagic_uninstall.sh and put back at the root of the USB drive. The urmagic_robotic_sensor.sh must also be put aside so it is not executed by mistake.

Connect the USB drive to a free port on the robot. You should see a big red "!USB!" on the screen. The driver should be removed automatically from the robot in a few steps.

Once a big green "<-- USB" can be seen, the USB drive can safely be removed from the robot.