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Requirements

In order to use the esaDrive URCap on a robot from Universal Robots, the following requirements must be met:

Supported Robots

The URCap can be installed on the following robot models:

  • UR3, UR3e
  • UR5, UR5e
  • UR7e
  • UR10, UR10e
  • UR12e
  • UR15
  • UR16e
  • UR20
  • UR30

Note: For robots in the CB‑Series, the controller firmware must be at least version CB3.1. Older versions (CB3.0, CB2.0, etc.) are not supported.

Supported Polyscope Versions

Polyscope is the operating system running on the robot controller from Universal Robots.
The esaDrive URCap is compatible with the following Polyscope versions:

  • e‑Series: version 5.6 or later
  • CB‑Series: version 3.13 or later

⚠️ Important: Polyscope X is currently not supported!

Supported Drive Controllers

The esaDrive URCap currently supports the following Festo drive controllers:

  • CMMT‑AS‑xx‑xx‑MP‑xx (servo drive)
  • CMMT‑ST‑xx‑xx‑MP‑xx (stepper drive)

Note: The placeholders “xx” represent various device variants.

Required Firmware

To ensure reliable communication between the robot and the drive controller, the following firmware version must be installed on the Festo drive:

  • Required firmware: V033.0.10.12

You can install this firmware on the drive controller using the free PC tool Festo Automation Suite.

⚠️ Important:
Only this firmware version may be used.
Any other versions—whether older or newer—are not supported.