Installing a Force Torque Sensor on a UR CB3.0

Context

Beginning with Polyscope 3.6.0, a breaking change prevents the latest URCap version (compatible with CB3.0, version 1.0.3) from being installed. To use a Robotiq Force Torque Sensor (FT-150 or FT-300) on a CB3.0 robot running Polyscope 3.6 or higher, you must install the legacy driver package.

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

With the latest Polyscope version

Information

1. Prerequisites & Cleanup

Ensure any installed FT-300 or Copilot URCap URCap is uninstalled before beginning. robotiq.zendesk.com

2. Prepare the Legacy Driver Package

Download Driver Package for Force Torque Sensor version DFU-1.1.15 from the support archive on Robotiq’s website. robotiq.zendesk.com
Extract the contents of the .zip file to the root directory of an empty USB drive, formatted in FAT32.

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.

Install the Driver on the Robot

Insert the USB into a free port on the robot.
The teach pendant will display a large red "!USB!" prompt.
The driver installation runs automatically.
Once you see a large green "<-- USB" message, the installation is complete. No reboot is necessary.
After, the driver, its functions, and sample programs will be available on the robot.

Uninstalling the Legacy Driver

Open the USB drive and rename uninstall.sh to urmagic_uninstall.sh. Ensure urmagic_robotic_sensor.sh is set aside and not included.
Insert the USB back into the robot.
You will see the red "!USB!" prompt again. The driver will be automatically removed.
A green "<-- USB" message confirms success—after which you can safely remove the USB.