Universal Robots UR3/CB3 User Manual page 114

Active payload and installation
When the robot arm is powered on, the payload mass used by the controller when
operating the robot arm is shown in the small white text field. This value can be
modified by tapping the text field and entering a new value. Note that setting this
value does not modify the payload in the robot's installation (see 13.6), it only sets the
payload mass to be used by the controller.
Similarly, the name of the installation file that is currently loaded is shown in the grey
text field. A different installation can be loaded by tapping the text field or by using
the Load button next to it. Alternatively, the loaded installation can be customized
using the buttons next to the 3D view in the lower part of the screen.
Before starting up the robot arm, it is very important to verify that both the active
payload and the active installation correspond to the actual situation the robot arm is
currently in.
Initializing the robot arm
The large button with the green icon on it serves to perform the actual initialization
of the robot arm. The text on it, and the action it performs, change depending on the
current state of the robot arm.
CB3
DANGER:
Always verify that the actual payload and installation are correct be-
fore starting up the robot arm. If these settings are wrong, the robot
arm and control box will not function correctly and may become dan-
gerous to people or equipment around them.
CAUTION:
Great care should be taken if the robot arm is touching an obstacle or
table, since driving the robot arm into the obstacle might damage a
joint gearbox.
• After the controller PC boots up, the button needs to be tapped once to power
the robot arm on. The robot arm state then turns to Power on and subsequently
to Idle. Note that when an emergency stop is in place, the robot arm cannot be
powered on, so the button will be disabled.
• When the robot arm state is Idle, the button needs to be tapped once again to start
the robot arm up. At this point, sensor data is checked against the configured
mounting of the robot arm. If a mismatch is found (with a tolerance of 30 ), the
button is disabled and an error message is displayed below it.
II-30
11.5 Initialization Screen
Version 3.3.3