Configure offline simulator

Connect with static IP

If you don't have a real robot but want to test this library, please follow the instructions.

• Download the simulator from the UR website in the version of your choice (The library is compatible with any version) : https://www.universal-robots.com/download/?filters[]=98759&query=

• Extract the archive (with 7Zip for example)

• Download latest version of Virtual Box : https://www.virtualbox.org/wiki/Downloads.

• Install VirtualBox and ensure that you checked all network features in the installer, as shown here :

• Change your VirtualBox Host-Only Network IP address to a static IP like 192.168.0.10

• Open Oracle VM Virtualbox, press CTRL+A (or Machine menu / Add...) and select the downloaded URSim_VIRTUAL-x.x.x.xxxxx.vbox file.

• Open Configuration, go to network and attach to Host only Adapter (Réseau privé hôte in french) named Virtualbox Host-only Ethernet Adapter and press OK.

• Start the virtual machine and Lubuntu should boot.

• Change Lubuntu IP Address Click Start menu / Run and execute command sudo leafpad /etc/network/interfaces to edit interfaces file.

Change the content of interfaces file to assign static IP 192.168.0.56 with the following configuration :

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
auto eth0
iface eth0 inet static
  address 192.168.0.56
  network 192.168.0.0
  netmask 255.255.255.0
  gateway 192.168.0.1

• Restart Lubuntu by clicking Start menu / Logout / Reboot

• When VM is restarted, launch the URSim version of your choice (UR3, UR5, UR10 or UR16)

• The first time you launch URSim you should click on "Confirm Safety" popup button.

• You can then enjoy the Windows Forms Example by connecting to 192.168.0.56

Connect with DHCP

Please refer to the following Universal Robots support tutorial for setting DHCP :

https://www.universal-robots.com/articles/ur/interface-communication/connecting-to-client-interfaces-within-ursim/