Ensure that the UR robot controller has the following versions of UR PolyScopeTM installed, depending on the UR robot type in use: for CB3 series version 3.9.0 or later, for e-Series 5.3.0 or 5.7 or later (make sure not to use the versions in between, since they have a bug in the RTDE interface).
For the UR CB3 series (UR3, UR5, UR10)
- Insert the enclosed MIRAI USB stick in the USB slot of the UR teach pendant on the upper right hand (see drawing).
- Select ‘Setup Robot’ in the main menu screen, then the menu item ‘URCaps’.
- Tap the ‘+’ symbol on the bottom left and select the USBdisk. Here select in the ‘/MIRAI_URCaps’ folder the file ‘mira_URCap_v###.urcap’. Tap ‘Open’.
- Once the URCap plugin is installed, the UR robot system must be restarted to initialize the MIRAI URCap plugin. Tap ‘Restart’ (lower right).
For the UR e-Series (UR3e, UR5e, UR10e, 16e
- Insert the enclosed MIRAI USB stick in the USB slot of the UR teach pendant on the upper right side.
- Select ‘Settings’ in the main menu (upper right corner).
- On the menu on the left, open the tab ‘System’ and then select the menu item ‘URCaps’. Tap the ‘+’ symbol on the bottom left and select the USBdisk. Select in the ‘/MIRAI_URCap’ folder the file ‘mira_URCap_v###.urcap’. Tap ‘Open’.
- Once the URCap plugin is installed, it is required to restart the UR robot system to initialize the MIRAI URCap plugin. Tap ‘Restart’ (lower right).
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