Configure a ur5e Arm

Configure a ur5e arm to add a Universal Robots UR5e to your robot:

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and click Create component. Select the arm type, then select the ur5e model. Enter a name for your arm and click Create.

Web UI configuration panel for an arm of model ur5e in the Viam app, with Attributes & Depends On drop-downs and the option to add a frame.

Edit and fill in the attributes as applicable.

{
  "components": [
    {
      "model": "ur5e",
      "name": "<your-arm-name>",
      "type": "arm",
      "attributes": {
        "speed_degs_per_sec": <float>,
        "host": "<your-host-address>",
      },
      "depends_on": []
    }
  ]
}

{
  "components": [
    {
      "depends_on": [],
      "model": "pi",
      "name": "local",
      "type": "board",
      "attributes": {}
    },
    {
      "name": "my-arm",
      "type": "arm",
      "model": "ur5e",
      "attributes": {
        "speed_degs_per_sec": 1,
        "host": "10.1.10.82"
      },
      "depends_on": []
    }
  ]
}

The following attributes are available for ur5e arms:

AttributeTypeInclusionDescription
speed_degs_per_secfloatRequiredDesired maximum speed of joint movement in degrees/sec.
Range: [.1, 1]
hoststringRequiredThe IP address of the arm’s system on your network. Find this when setting up your UR5e.


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