Configure the Universal Robots Connector
Connect SIA Connect to a Universal Robots controller, discover robot instances, read standard values and global variables, and troubleshoot communication.
The Universal Robots Connector reads operating data, controller values, force measurements, and global user variables from a Universal Robots controller. The Connector uses the Universal Robots Primary Client interface on TCP port 30001.
The Connector is read-only. It does not send commands to the robot or change robot values.
Before you begin
- Install the Universal Robot Connector.
- Connect SIA Connect and the robot controller to the same routed network.
- Confirm that SIA Connect can reach the robot IP address or hostname.
- Allow TCP port
30001between SIA Connect and the robot controller. - Know the robot controller software version if you do not want the Connector to select it automatically.
Confirm that the robot is in a safe state before loading, starting, or restarting a robot program while troubleshooting global variables. Follow the safety procedures for your installation.
Discover Universal Robots instances
The Connector supports instance discovery. It scans the selected IPv4 network interface and probes the configured TCP ports for Universal Robots controllers.
- In the Edge Portal, open Workspace > Instances.
- Start instance discovery and select the Universal Robot Connector.
- Configure the discovery parameters.
- Select Search instances.
- Wait for the search to complete.
- Select the required robots and import the instances.
- Open each imported instance and verify its address and robot software version.
When the robot provides identification information, the discovery result can include its model and controller software version. The imported instance uses the detected IP address and selects the corresponding protocol version.
Instance discovery parameters
| Parameter | Default | Accepted values | Description |
|---|---|---|---|
| Scan duration (ms) | 60000 |
1000 to 300000
|
Maximum duration of the discovery scan in milliseconds. |
| Network interface | eth0 |
An available interface or All IPv4 interfaces | Network interface whose IPv4 subnet is scanned. |
| TCP ports | 29999-30004 |
Ports from 1 to 65535, entered as comma-separated values or ranges |
Ports used to identify Universal Robots controllers. The default covers the Dashboard Server, Primary Client, Secondary Client, Real-Time Client, and RTDE ports. |
The Connector can probe up to 256 IPv4 hosts and 64 TCP ports in one discovery search. Item discovery is not supported.
Configure an instance manually
- Open Workspace > Instances.
- Create an instance and select the Universal Robot Connector.
- Enter a clear name for the robot.
- Enter the robot controller IP address or resolvable hostname in Address.
- Select the applicable robot software range in Version. Use Auto when the Connector should detect the version from the controller.
- Create the instance.
- Enable the instance.
Instance parameters
| Parameter | Required | Default | Accepted values | Description |
|---|---|---|---|---|
| Address | Yes | None | IPv4 address or resolvable hostname | Network address of the Universal Robots controller. Runtime communication uses TCP port 30001. |
| Version | Yes | Auto | Auto, Up to 3.2, 3.3 to 5.8, or 5.9 and up | Selects how the Connector decodes global user-variable values from the controller. |
Use the automatically created items
When the instance starts for the first time, the Connector adds a standard set of read-only items. The items are initially disabled. Enable only the values that you need.
| Group | Items | Values |
|---|---|---|
| Identity | Vendor, Model, Firmware | Manufacturer, robot project or model name, and detected controller software version. |
| Robot status | Emergency stopped, Protective stopped, Program running, Program paused | Boolean states returned as 0 or 1. |
| Joints | Motor temperature and motor current for Base, Shoulder, Elbow, Wrist 1, Wrist 2, and Wrist 3 | Temperature and current measurements for each robot joint. |
| Tool | Tool analog input 2, Tool analog input 3, Tool output voltage, Tool current, Tool temperature | Tool I/O and electrical measurements. |
| Controller and I/O | Digital input bits, Digital output bits, Analog input 0, Analog input 1, Analog output 0, Analog output 1, Controller temperature, Main voltage, Robot current, IO current, Safety mode status, Reduced mode | Controller, safety, and I/O values from the robot state message. |
| Force | Force X, Force Y, Force Z, Force Rx, Force Ry, Force Rz | Cartesian force and rotational force values reported by the controller. |
| User variables | One item for each detected global variable | Integers, floating-point values, Boolean values, poses, strings, and lists supported by the selected controller software version. |
Read global user variables
The Connector adds a disabled, read-only item when the robot reports a global user variable. The item name contains the robot variable name followed by (User variable).
- Load the required robot program on the controller.
- Start the robot program when it is safe to do so.
- Wait for the controller to send the global variable list and values.
- Open the instance Items page.
- Find the required (User variable) items.
- Enable the items that you want to read or map.
The Connector retains the last received variable-name list so it can restore the item definitions after a restart. New variables are added when the controller sends an updated list.
Returned user-variable formats
| Robot value | Returned format |
|---|---|
| Integer or floating-point value | Numeric text |
| Boolean |
0 or 1
|
| Pose | p[x, y, z, rx, ry, rz] |
| String | Text value |
| List | Comma-separated values enclosed in square brackets |
Verify the connection
- Enable the Connector and Universal Robots instance.
- Confirm that the instance does not show a connection error.
- Enable one standard item, such as Program running or Controller temperature.
- Confirm that the item receives a value and timestamp.
- If you use global variables, change a test variable through the robot program and confirm that the item value updates.
The instance remains online and the enabled items update from the robot controller. No value is written back to the robot.
Troubleshoot the Universal Robots Connector
| Message or symptom | Likely cause | Action |
|---|---|---|
| Could not connect to robot | The address cannot be reached or TCP port 30001 is unavailable. |
Verify the address, cabling, routing, and firewall rules. Confirm that the robot controller is powered and that its Primary Client interface can be reached on port 30001. |
| No data received from robot | The TCP connection opened, but the Connector did not receive a supported robot message within 20 seconds. | Confirm that the robot controller is running normally. Check the selected Version, restart the instance, and review the Connector logs. |
| The robot is not found by discovery | The wrong network interface or ports were selected, the robot is on another subnet, or the scan limit was reached. | Select the interface connected to the robot network. Restore the default port range 29999-30004, increase the scan duration, or configure the instance manually. |
| A discovered instance does not connect | Discovery identified the robot through another Universal Robots service, but runtime port 30001 is blocked. |
Allow TCP port 30001 and test the connection again. |
| Values are missing or decoded incorrectly | The selected controller software range does not match the robot. | Use Auto. If automatic detection does not work, select the correct software range and restart the instance. |
| Global user-variable items are missing | The controller has not sent the variable list, or the active program has changed since the list was cached. | When safe, load and start the required robot program while the Connector is running. Wait for the variable list, then refresh the instance items. |
| An item exists but has no value | The item is disabled, the instance is offline, or the current robot message does not contain the value. | Enable the item, confirm that the instance is online, and verify that the controller and loaded program provide the required data. |
| The instance repeatedly disconnects and reconnects | The network connection is unstable or the robot stops sending Primary Client data. | Check the Ethernet connection, network load, routing, and firewall session timeouts. Review the Connector logs for connection, timeout, or read errors. |
Use the Edge Portal Ping tool to confirm basic IP connectivity. A successful ping does not confirm that TCP port 30001 is available.
If the cause is not clear, review the Connector and system logs. Socket connection, hostname resolution, timeout, and read failures are recorded in the logs.