Actin UR

These training pages will introduce you to Actin UR - a version of Actin SDK that comes pre-installed on an industrial PC and includes simulation and control models for all of Universal Robots UR models (3,5,10, 3e, 5e, 10e, 16e).


  • Actin Coprocessor
  • Actin UR 1.0 or later (based on Actin SDK 6.x)
  • UR Robot or Virtual Machine and URSim


  1. Overview
  2. Getting Started
  3. Simple Scripting
  4. Importing Tool Paths
  5. CAD Model Import
  6. Dual Robot Control
  7. Manipulator extensions (Grippers)
  8. Digital and Analog I/O Interfaces