URCaps by ECOSPHERE®

esaDrive is the URCap software to control additional servo and stepper motors with your UR robot

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Are you curious about
how the URCap esaDrive works?

In this video, we'll show you step by step how easy it is
to use a FESTO servo drive with a UR robot.

Are you curious about how the URCap esaDrive works?

In this video, we'll show you step by step how easy it is to use a FESTO servo drive with a UR robot.

Please accept marketing-cookies to watch this video.

You need more than one additional drive?

No problem. Move several drives at the same time
without needing a PLC.

You need more than one additional drive?

No problem. Move several drives at the same time without needing a PLC.

Please accept marketing-cookies to watch this video.

News and updates

26. August 2024 04. January 2024 15. November 2023

release esaDrive_1.1.35

New Features:

The URCap now supports linear axis (measurement unit METRIC) and rotary axis (measurement unit DEGREE).
The reduced mode of the robot now also sets the additional drives to a reduced speed (e.g., for the use of safety laser scanners).

Download URCap and Documentation

release esaDrive_1.1.29

New Features:

Up to 6 drives are now supported at the same time.
Network scanner to make commissioning easier.
Program node to set the target position by variable.

Download

release esaDrive_1.1.24

New Features:

Program node for accessing the current drive position within the robot program.
Program node to start the homing within the robot program.
The software limit switches of the CMMT drives can now be configured through the URCap.
The URCap now officially supports the drive controllers CMMT-ST-xx-xx-MP-xx.

Bugfixes:

Firmware-dependent modbus connection issues have been resolved.

Download URCap and Documentation

News and updates

26. August 2024 04. January 2024 15. November 2023

release esaDrive_1.1.35

New Features:

The URCap now supports linear axis (measurement unit METRIC) and rotary axis (measurement unit DEGREE).
The reduced mode of the robot now also sets the additional drives to a reduced speed (e.g., for the use of safety laser scanners).

release esaDrive_1.1.29

New Features:

Up to 6 drives are now supported at the same time.
Network scanner to make commissioning easier.
Program node to set the target position by variable.

release esaDrive_1.1.24

New Features:

Program node for accessing the current drive position within the robot program.
Program node to start the homing within the robot program.
The software limit switches of the CMMT drives can now be configured through the URCap.
The URCap now officially supports the drive controllers CMMT-ST-xx-xx-MP-xx.

Bugfixes:

Firmware-dependent modbus connection issues have been resolved.

FAQs

How many drives can I control with the URCap?

Since version esaDrive_1.1.29 the URCap can control up to 6 drives at the same time.
If you have an application in which you would like to control more than 6 drives at the same time, please feel free to contact us.
There is also an option for this.

Which drive controllers can be used with the URCap esaDrive?

Currently, the following drive controllers are supported:

FESTO CMMT-AS-xx-xx-MP-xx
FESTO CMMT-ST-xx-xx-MP-xx

Can the URCap control linear axis (metric) and rotary axis (degree)?

Yes, since version esaDrive-1.1.35, the units Metric and Degree are supported.
You need to set the unit when configuring the drive in the Festo Automation Suite. For linear axis, select the unit Metric.
For rotary axis, select the unit Degree.

Which firmware version must be installed on the drive controller?

Firmware version V033.0.10.12 must be installed on the drive controller. If an older firmware version is installed on the drive controller, connection errors may occur between URCap and drive controller. The drive controller firmware can be installed/updated either via the “FESTO Automation Suite” or via the drive controller’s website.

Is there a wiring diagram for the connection between the drive and the robot?

Yes, there is. When you download the URCap version, you will receive a folder containing not only the URCap installation file but also a wiring diagram.
CAUTION: The wiring diagram included in the download is just an example. The electrical installation must be carried out by a qualified electrician and must be adapted to the regional regulations and safety guidelines!!!

Is there a tutorial for putting a new drive into operation?

Yes, we have created a tutorial video for you in which we show you step by step how to put a Festo drive into operation for the first time.

GO TO VIDEO

Which language can I choose?

At the moment the language "English" and "German" can be selected in the settings.
If you would like your robot to be in another language (e.g. Spanish), then that's no problem either. In this case, the URCap esaDrive would be presented in English and everything else on the robot would still be in Spanish.

How can I update my robot to a newer version of the URCap esaDrive?

In the following video we will show you how to update your robot to a newer URCap version. You can download the URCap installation file in the download area (see below).

Please accept marketing-cookies to watch this video.

"Connection error between robot and drive". What does this error message mean?

This error message is displayed when the URCap (the robot) attempts to communicate with the drive controller via the modbus connection (ethernet cable), but the communication does not work. There can be several reasons why the communication is not working. Please go through the following listed points step by step and see if it is related to any of these.

1. Check if the drive controller has power. LEDs on the drive controller should be lit.

2. Check if the Ethernet cable is plugged into both the robot controller (ethernet port) and the drive controller (port X1F).

3. Verify that the IP address of the robot and the drive controller is set correctly. Both devices must be in the same subnet but must not have the same IP address.

4. Check if the protocol selection switches of the drive controller are set correctly. The switches are located on the housing of the drive controller and should be set as follows: SW1=1, SW2=1, SW3=0.

5. There could be issues with some old firmware versions of the drive controller. Firmware version V033.0.10.12 must be installed on the drive controller. If an older firmware version is installed on the drive controller, connection errors may occur between URCap and drive controller. The drive controller firmware can be installed/updated either via the “FESTO Automation Suite” or via the drive controller’s website.

Can I test the URCap esaDrive for free?

Yes, the URCap can be tested for free. To do this, simply install the URCap from the download area on your robot. If the installed URCap does not detect a valid license, it automatically operates in trial mode. The trial mode has no functional limitations compared to the normal mode. The only difference is that a message appears on the display at regular intervals, reminding you that the URCap is running in trial mode. If you decide to purchase a license for the URCap, we will send you a USB dongle. The license is on the USB dongle. You just have to plug the USB dongle into a USB port on your robot. The URCap recognizes the USB dongle automatically and switches from trial mode to normal mode.

How can I purchase a license for the URCap esaDrive?

You can purchase a license either through our online shop (URCap esaDrive) or by sending us an email (solutions@ecosphere-automation.de), and we will send you a quote.

If you are certified by UNIVERSAL ROBOTS as a distributor or integrator, we can offer you a partner program with additional benefits.

FAQs

Can I test the URCap esaDrive for free?

Yes, the URCap can be tested for free. To do this, simply install the URCap from the download area on your robot. If the installed URCap does not detect a valid license, it automatically operates in trial mode. The trial mode has no functional limitations compared to the normal mode. The only difference is that a message appears on the display at regular intervals, reminding you that the URCap is running in trial mode. If you decide to purchase a license for the URCap, we will send you a USB dongle. The license is on the USB dongle. You just have to plug the USB dongle into a USB port on your robot. The URCap recognizes the USB dongle automatically and switches from trial mode to normal mode.

Which drive controllers can be used with the URCap esaDrive?

Currently, the following drive controllers are supported:

FESTO CMMT-AS-xx-xx-MP-xx
FESTO CMMT-ST-xx-xx-MP-xx

Can the URCap control linear axis (metric) and rotary axis (degree)?

Yes, since version esaDrive-1.1.35, the units Metric and Degree are supported.
You need to set the unit when configuring the drive in the Festo Automation Suite. For linear axis, select the unit Metric.
For rotary axis, select the unit Degree.

Which firmware version must be installed on the drive controller?

Firmware version V033.0.10.12 must be installed on the drive controller. If an older firmware version is installed on the drive controller, connection errors may occur between URCap and drive controller. The drive controller firmware can be installed/updated either via the “FESTO Automation Suite” or via the drive controller’s website.

How many drives can I control with the URCap?

Since version esaDrive_1.1.29 the URCap can control up to 6 drives at the same time.
If you have an application in which you would like to control more than 6 drives at the same time, please feel free to contact us. There is also an option for this.

Is there a wiring diagram for the connection between the drive and the robot?

Yes, there is. When you download the URCap version, you will receive a folder containing not only the URCap installation file but also a wiring diagram.
CAUTION: The wiring diagram included in the download is just an example. The electrical installation must be carried out by a qualified electrician and must be adapted to the regional regulations and safety guidelines!!!

Which language can I choose?

At the moment the language "English" and "German" can be selected in the settings.
If you would like your robot to be in another language (e.g. Spanish), then that's no problem either. In this case, the URCap esaDrive would be presented in English and everything else on the robot would still be in Spanish.

How can I update my robot to a newer version of the URCap esaDrive?

In the following video we will show you how to update your robot to a newer URCap version. You can download the URCap installation file in the download area (see below).

Please accept marketing-cookies to watch this video.

"Connection error between robot and drive". What does this error message mean?

This error message is displayed when the URCap (the robot) attempts to communicate with the drive controller via the modbus connection (ethernet cable), but the communication does not work. There can be several reasons why the communication is not working. Please go through the following listed points step by step and see if it is related to any of these.

1. Check if the drive controller has power. LEDs on the drive controller should be lit.

2. Check if the Ethernet cable is plugged into both the robot controller (ethernet port) and the drive controller (port X1F).

3. Verify that the IP address of the robot and the drive controller is set correctly. Both devices must be in the same subnet but must not have the same IP address.

4. Check if the protocol selection switches of the drive controller are set correctly. The switches are located on the housing of the drive controller and should be set as follows: SW1=1, SW2=1, SW3=0.

5. There could be issues with some old firmware versions of the drive controller. Firmware version V033.0.10.12 must be installed on the drive controller. If an older firmware version is installed on the drive controller, connection errors may occur between URCap and drive controller. The drive controller firmware can be installed/updated either via the “FESTO Automation Suite” or via the drive controller’s website.

How can I purchase a license for the URCap esaDrive?

You can purchase a license either through our online shop (URCap esaDrive) or by sending us an email (solutions@ecosphere-automation.de), and we will send you a quote.

If you are certified by UNIVERSAL ROBOTS as a distributor or integrator, we can offer you a partner program with additional benefits.