Universal Robots UR-6-85-5-A User Manual page 11

1.3. Quick start, Step by Step
8. Wait a minute while the system is starting up, displaying text on the touch
screen.
9. When the system is ready, a popup will be shown on the touch screen,
stating that the emergency stop button is pressed.
10. Touch the To Initialization Screen button at the popup.
11. Unlock the emergency stop buttons. The robot state then changes from
'Emergency Stopped' to 'Robot Power Off'.
12. Touch the On button on the touch screen. The robot now makes a noise
and moves a little while unlocking the breaks.
13. Touch the blue arrows and move the joints around until every "light" at the
right side of the screen turns green. Be careful not to drive the robot into
itself or anything else.
14. All joints are now OK. Touch the exit button, bringing you the Welcome
screen.
15. Touch the PROGRAM Robot button and select Empty Program.
16. Touch the Next button (bottom right) so that the <empty> line is selected
in the tree structure on the left side of the screen.
17. Go to the Structure tab.
18. Touch the Move button.
19. Go to the Command tab.
20. Press the Next button, to go to the Waypoint settings.
21. Press the Set this waypoint button next to the "?" picture.
22. On the Move screen, move the robot by pressing the various blue arrows, or
move the robot by holding the Back-drive button while pulling the robot
arm.
23. Press OK.
24. Press Add waypoint before.
25. Press the Set this waypoint button next to the "?" picture.
26. On the Move screen, move the robot by pressing the various blue arrows, or
move the robot by holding the Back-drive button while pulling the robot
arm.
27. Press OK.
28. Your program is ready. The robot will move between the two points when
you press the 'Play' symbol. Stand clear, hold on to the emergency stop
button and press 'Play'.
29. Congratulations! You have now produced your first robot program that
moves the robot between the two given positions. Remember that you
have to carry out a risk assessment and improve the overall safety condi-
tion before you really make the robot do some work.
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