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--- ur10_robot_arm:ur10_robot_arm [2023/04/17 12:32] – [Grasshopper] formlab
+++ ur10_robot_arm:ur10_robot_arm [2026/09/11 21:43] (current) – external edit 127.0.0.1
@@ Line 32: / Line 32: @@
 - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
+- Direct computer-robot ethernet connection doesn't work. You need a switch or a router. The computer's IP address should be set to DHCP.
 ==== Grasshopper ====
 Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots.
+=== Connect to the robot ===
+{{:ur10_robot_arm:screen_shot_2023-02-28_at_10.45.42.png?400|}}
+(08/09/2025)\\
+Connect the Robot controller with an ethernet cable. This can be done in 3 ways:
+  * Robot controller direct to the Mac
+  * Robot controller to a network switch, which then connects to a Mac (not connected to the main network)
+  * Robot controller to a network switch, which is connected to the main network
+On the teaching pendant go to Setup Robot > Network
+  * Select Static Address
+  * IP address: 192.168.185.99
+  * Subnet Mask: 255.255.192.0
+  * Default Gateway: 0.0.0.0
+  * Preferred & Alternative DNS servers:  0.0.0.0
+On the computer, go to System Settings > Network > Ethernet > TCP/IP
+  * Set 'Configure' to 'Manually'
+  * IP Address: 192.168.185.88
+  * Subnet Mask: 255.255.192.0
+In the terminal, try pinging to check the connection to the robot:
+  * ''ping 192.168.185.99''
+  * If the ping returns data, you know the computer can reach the robot
+Now you can control the robot with the Robots plugin in Grasshopper / Rhino and use the URRealtimeFeedback script to get the current pose & TCP position.
+Current versions used:
+  * Rhino version: 7  (7.38.24338.17002, 2024-12-03)
+  * Grasshopper version 03/12/2024 build 1.0.0007
+  * Robots (Visose) version: 1.4.1: [[https://github.com/visose/Robots|Link]]
+  * URRealtimeFeedback script for Grasshopper Robots: [[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback|Link]]
+Using a forked version of the URRealtimeFeedback script by Odbee ([[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback/pull/2|Link]]), makes it possible to use version 1.6.7 of the Robots plugin.
@@ Line 133: / Line 172: @@
 {{:ur10_robot_arm:urprinter_clay.jpg?600|}}
+Info about the drop spike: [[https://wikifactory.com/@jonathankeep/jk-drop-spike|link]]
 ===== 3D printer (Plastic) =====
 In development