The software is not backwards compatible.
Software is covered under End User Software Licence Agreement. Please find this under software selection.
NOTE: Not all functions works compared to a real robot, please see below.
- Emergency stop can not be used
- Input IO state can not be set
- Paths are perfect
- Collisions with self or with surrounding objects do not work
- Force mode will not work
URSim is a simulation software intended for offline programming and simulation of both robot programs and manual movement of robot.
There are some limitations when using the simulator due to no feedback from real robot. Specially the force control will be limited in use. If Simulation mode is selected in bottom left corner, it is possible to simulate digital inputs on the I/O page.
URSim must be run in Linux environment and has been tested in Ubuntu v14.04.
For non-Linux Ubuntu 14.04 (Windows and other Linux distribution) users, proceed to this page for download of virtual Linux machine and installation instructions:
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URSim In Virtual Machine
How to run URsim in a Windows operating system
Description: URsim will only run in a Linux operating system. For running the simulator in another operating system, a virtual machine is needed. A virtual machine is basically just a program, where multiple operating systems can be installed, including Linux.
There are various options available, but these two are the most common players:
- VMWare Player (free for non-commercial use, small fee for commercial use)
The VMWare version requires an update to VM12
- VirtualBox (freeware)
For easy convenience for non-Linux users, a virtual machine has been created for UR users. This contains a simulator for UR3, UR5 and UR10. It is not possible to run two simulators simultaneously.
The virtual machine has been tested on different pc’s with different players. However Universal Robots do not guarantee and do not provide any support, should the below guide be insufficient for running the virtual machine. Depending on the hardware configuration of the pc where it is to be installed, it might be necessary to modify the drivers in the virtual machine for obtaining full use of all hardware (soundcard, network adapter, etc) on the pc.
Requirements prior to installing:
- Min. 8 GB free space on hard drive
- Download virtual player
- Download 7Zip (freeware program for unzipping rar-files) or similar
- Download zipped virtual machine to a desired folder of your choice
- Install a virtual player.
- Unpack the zipped virtual machine in a desired folder on your pc
- Start the virtual player.
- Proceed in this guide to either VMWare Player or VirtualBox
1. Start VMWare Player
2. Press Open a virtual machine and find the path where the zipped files was unpacked
3. Press Play virtual machine and select I copied it
4. Virtual machine will start. On CB2 Simulator, doubleclick the Read me file on the desktop
1. StartVirtualBox and press New
2. Define name (your choice), type: Linux, Version: Ubuntu
3. Select Use an existing hard drive file and define the path to the folder where the zipped file was unpacked, press Create
4. Press Start for starting the virtual machine
5. VirtualBox does not automatically allow resizing of the Ubuntu Desktop, causing that the bottom part of the simulator is not visible. To correct this, follow these steps:
- Shutdown the virtual machine
- From the VirtualBox top menu choose Devices, Install guest additions, then wait for a mock-CD ROM to appear and run the install from there
- Restart virtual machine
- Offline Simulator
- Non Linux
- URSim 3.2.18654