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Compare the value of the command output with the contents of the .sha256. The values must be identical if integrity is deemed intact.

1. General Information

1.1 Purpose

MotionPlus is an add-on software module designed to provide a simple and accurate way to integrate external axes with Universal Robots. This module enables time, position, and speed synchronization between the robot's six motorized axes and up to 6 external axes. 

This release is specifically focused on part-positioning applications, such as welding, where the external system maneuvers a part while the robot performs operations. 

1.2 Applicable to

• Robots: All e-Series robots, UR20, and UR30.
• PolyScope Versions: 5.24 and newer.
• Hardware: Compatible with approved third-party EtherCAT servo drives and actuators.

2. MotionPlus 1.5 Features

MotionPlus 1.5 is the production release for PolyScope 5.24 and newer. It consists of two primary components: 

• EtherCAT URCap: Includes a PolyScope installation GUI for setting up EtherCAT communication and a background daemon that handles low-level communication. 
• Controller URScript API: Provides specialized commands to manage external axes, coordinate frames, and synchronized motion. 

3. License Packages

There are three versions of the MotionPlus URCap available. Please ensure the license assigned to your robot (by serial number) matches the version of the URCap you install: 

• MotionPlus Basic: Supports a single external axis without coordinated motion. 
• MotionPlus Standard: Supports up to six external axes without coordinated motion. 
• MotionPlus Advanced: Supports up to six external axes with full Coordinated Motion (TCP motion synchronized relative to a moving frame on an external axis). 

4. Installation

To install or upgrade to MotionPlus 1.5: 

1. Preparation: Ensure your robot is running PolyScope 5.24 or newer. If needed, the robot image for PolyScope 5.24 can be downloaded from the Universal Robots Downloads page here. 
2. Removal: If a previous version of MotionPlus is installed, navigate to the URCap Management page, remove the existing version, and restart PolyScope. 
3. Installation: 
   • Copy the MotionPlus URCap file to a USB drive. 
   • On the Teach Pendant, go to Settings > System > URCaps. 
   • Click the "+" button, select the file from your USB drive, and click Open. 
   • Restart PolyScope to complete the installation. 
4. Activation: Navigate to the Installation tab, select MotionPlus, and start the service. 

5. Documentation and Support

For detailed instructions on configuration, URScript APIs, and troubleshooting, please refer to the official documentation: 

• Full Documentation & Release Notes: MotionPlus 1.5 Online Manual 

• Support: For technical assistance, please export your MotionPlus service logs via the Installation tab and contact your local UR distributor.