Tool - Universal Robots UR5e User Manual

screen or tapping the Stop button in the Dashboard disables the auto start feature until the Run
button is pressed again.
Auto Initialization
The Robot arm is automatically initialized. On the specified external input signal edge transition,
the Robot arm is completely initialized, regardless of the visible screen.
Brake Release is the final initialization stage. During Brake Release, the Robot arm makes a minor
movement and a clicking noise. Furthermore, the brakes cannot be automatically released if the
configured mounting does not match the mounting detected (based on sensor data). In this
case, the robot must be initialized manually on the initialization screen (see 15).
On Startup, the current input signal level is undefined. Choosing a transition that matches the
signal level on startup initializes the Robot arm immediately.

17.1.10 Tool

The Tool Communication Interface (TCI) enables the robot to communicate with an attached
tool via the robot tool analog input. This removes the need for external cabling.
Once the Tool Communication Interface is enabled, all tool analog inputs are unavailable.
Enabling the Tool Communication Interface
1. In Polyscope, tap the Enable button to edit baud rate, parity and stop bits.
2. On the relevant drop down menus, select the appropriate values. You can edit the Transmit
and receive idle in characters, by tapping on the text field and entering a new value
3. Tap the Disable button to disable TCI.
Note: Any changes in values are immediately sent to the tool. If any installation values
differ from what the tool is using, a warning appears.
Disabled Analog Input
Once the TCI is enabled, the tool analog input is unavailable for the I/O Setup of the Installation
and does not appear in the input list. Tool analog input is also unavailable for programs as Wait
For options and expressions.
In the Tool Input section of I/O, the parameters received from the tool are displayed instead of
analog values.
17.2 Safety
See chapter 13.
CB5 II-78
17.2 Safety
Version 5.0.2