EPICS support for Universal Robots

The integration of modern robots into large-scale control systems, such as synchrotron beamlines, has traditionally required custom, installation-specific solutions, hindering collaboration and reusability. This work presents an EPICS support library for controlling Universal Robots (UR) e-Series robotic arms. Built on the widely used EPICS asyn module, the software provides a standardized interface for controlling UR robots from an EPICS soft IOC. This greatly simplifies deployment to new installations and promotes collaboration across robot users. In addition to exposing low-level robot functions, such as joint control and status monitoring, the library offers higher-level features, including waypoint and path creation, to facilitate common tasks like pick-and-place operations.