Initializing The Robot; Shutting Down The Robot; Shutting Down The Controller Box - Universal Robots UR5 User Manual

'Start'. When a robot is started, a noise can be heard as the brakes unlock.
After the robot has powereded up, it needs to be initialized before it can begin
to perform work.

2.3.3 Initializing the Robot

After the robot is powered up, each of the robot's joints needs to find its ex-
act position, in order to do so the joints need to move. The amount of motion
needed depends on the joint position and type. Small joints need to move be-
tween 22.5 and 45 , large joints need to move half as much, the direction of
rotation is unimportant. The Initialization screen, shown in figure 2.1, gives ac-
cess to manual and semi-automatic driving of the robot's joints. The robot can-
not automatically avoid collision with itself or the surrounds during this process.
Therefore, caution should be exercised.
The Auto button near the top of the screen drives all joints until they are
ready. When released and pressed again, all joints change drive direction. The
Manual buttons permit manual driving of each joint.
A more detailed description of the initialization screen is found in the PolyScope
manual.

2.3.4 Shutting Down the Robot

The power to the robot can be turned off by touching the 'OFF' button at the
initialization screen. Most users do not need to use this feature since the robot is
automatically turned off when the controller box is shutting down.

2.3.5 Shutting Down the Controller Box

Shut down the system by pressing the green power button on the screen, or by
using the 'Shut Down' button on the welcome screen.
All Rights Reserved
Figure 2.1: The initialization screen
16
2.3. Turning On and Off
UR5