READY UR CB Series Startup Manual

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UR CB-Series Startup Guide

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Page 1 UR CB-Series Startup Guide...
Page 2 The documentation, best practices, and recommendations provided by READY Robotics do NOT constitute safety advice. Products sold through READY Robotics are not by themselves a fully integrated workcell. As required in ISO 10218-2, READY Robotics strongly recommends performing a complete risk assessment of the integrated workcell per ISO 12100.
Page 3: Table Of Contents
Connecting the READY pendant ........
Page 4: Overview
5. Install a supported Polyscope version and set the robot's IP address on the UR pendant. 6. Install and set up Forge/OS. 7. Add your robot in the Device Configuration app on the READY pendant. Note: This document assumes that you have mounted your robot following UR guidelines. You can find their documentation at universal-robots.com/download/.
Page 5: Hardware Requirements
Connects to the READY pendant READY Flying Leads Junction Box or Forge/Hub to Robotics Cable terminals. UR Teach Powers and controls the robot Universal Pendant and (pendant required to up Forge/OS). Robots Control Box © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 6 Bulkhead Dust Connector when the outside Ethernet Mouser 1-1546406-1 Cover Cable is not plugged in. Provides strain relief for safety cabling Automation Cable Gland BSPAX-11-W going into the UR Control Box Direct © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 7: Software Requirements
The native UR software that runs on the UR Teach pendant is called Polyscope. Refer to the table below for the Polyscope version requirement. Controller Minimum Software Version CB-Series (all robots) 3.14.3 Important: If the robot controller is not running the minimum supported Polyscope version, it will not communicate with Forge/OS. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 8: Confirming Software Requirements
On the UR teach pendant, go to the About page. CB-Series: About Button (on Home Screen) e-Series: About Button (in Hamburger Menu) In the Version tab, look for the Universal Robots Software version. CB-Series: Version Tab e-Series: Version Tab © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 9 Note: If you have a CB-Series robot with an old Polyscope version, you may need to update sequentially before jumping to the latest version. Refer to UR guidelines for more info. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 10: Connecting The Ur Control Box
Open the UR Control Box by inserting the controller key and turning it clockwise. Remove the nut on the Cat5 Bulkhead Ethernet Connector. Place the Dust Cover's loop over the connector and seat it against the gasket. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 11 VERSION 5.3.0 At the bottom of the UR Control Box, remove one of the rubber plugs or metal knockouts. Insert the silver side of the Ethernet Connector into the hole. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 12 Plug the shorter Ethernet cable into the Ethernet Connector. Plug the other end of the cable into the Ethernet port in the UR controller. Plug one end of the longer Ethernet cable into the outside end of the Ethernet Connector. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 13 Plug the other end of the Ethernet cable into a LAN port on your IPC. Plug the robot's cable connector into the metal socket at the base of the UR Control Box. Push the cable against the socket and turning the collar clockwise. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 14 VERSION 5.3.0 Plug the UR control box power cable into the port at the base of the UR Control Box. Do not plug the controller into a power source yet. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 15: Connecting The Ready Pendant
2. Three-Position Enabling Switch 3. Emergency Stop Button Note: You'll connect the READY pendant Emergency Stop to the UR controller. The UR robot won't use the READY pendant key selector switch or the three-position enabling switch. You can connect the three-position enabling switch if you configure Polyscope to use an enabling device.
Page 16 VERSION 5.3.0 If you are using a Forge/Ctrl, prepare the READY pendant Junction Box: Connect a Cat5e STP Ethernet cable from the junction box Ethernet port (1) into a LAN port (5) on the Forge/Ctrl. Connect the 8-Pin power cable (4) from the junction box into one of the Module ports (6) on the Forge/ Ctrl.
Page 17 VERSION 5.3.0 Open the UR Control Box by inserting the controller key and turning it clockwise. Remove an unused knockout on the bottom of the UR Control Box. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 18 VERSION 5.3.0 Insert a cable gland into the hole. Guide the 12-Pin M12 cable that is attached to the READY device (e.g., a READY pendant Junction Box or Forge/Hub) through the gland. Note: This cable gland maintains the IP rating and provides strain relief to the 12-Pin M12 Cable.
Page 19 24V terminal above it and that the SI1 terminal is jumpered to the 24V terminal above it. Close the UR Control Box and turn the key counterclockwise to lock the door shut. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 20: Powering On
Note: If you are using a Forge/Ctrl, turn the Power Disconnect Switch to ON. Then press the green power button on the opposite side. Press the power button on the UR Teach pendant to turn it on. The power button turns green. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 21: Preparing Polyscope On A Cb-Series Robot
TCP, re-attach the end effector, then initialize the robot arm. Note: If you don't know how to move the UR robot with the UR pendant, refer to UR documentation. Set the default TCP and initialize the robot: Tap Setup Robot. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 24 Note: Make sure that the robot arm is not touching an object (e.g., a table). A collision between the robot arm and an obstacle might damage a joint gearbox. Press OK in the bottom-right corner to apply the initialization. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 25 Tap Network. Tap Static Address. Set the IP Address and Subnet Mask according to the READY IPC you have: ▪ Forge/Ctrl: set the IP Address to 172.16.255.251 and set the Subnet Mask to 255.255.255.0. ▪ Forge/Hub: set the IP Address to 192.168.1.20 and set the Subnet Mask to 255.255.255.0.
Page 26: Signing In To Forge/Os
Tip: Forge/OS 5 is installed on all Forge/Ctrls and Forge/Hubs shipped after June 1, 2021. The READY pendant automatically finds and pairs with the IPC. The three LEDs on the screen help you track the status: ▪ Pendant Network Connection: This condition is satisfied when the READY pendant has a valid network connection (i.e., the Ethernet cable is plugged in).
Page 27 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there's only one READY pendant and one IPC on that network.
Page 28: Transferring Configuration Files
Note: If you are upgrading from a previous version of Forge/OS, edit your existing robot device in the Device Configuration app. Follow these instructions starting from the "Copy Configuration Files" step. In the Admin role, open the Device Configuration app. Tap New + to open the Device Library. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 30 If you are using Forge/OS 5.3.0 or later, insert a USB flash drive into the IPC as instructed on the screen. Use an empty flash drive with at least 2GB of storage. Tip: Do not connect the USB flash drive to the READY pendant. Tap Start Transfer and wait for it to finish.
Page 31 VERSION 5.3.0 On the UR pendant home screen, tap Program Robot. In the File menu in the upper-right corner, tap Load Program. In the Current Directory of “/programs”, tap usbdisk. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 33 If you see a pop-up that reads, “Installation file could not be found. Would you like to use the currently loaded installation?”, tap YES. In the File menu, tap Save As…. In the upper-right corner, tap the Home button (the middle icon).This returns the Current Directory to “/programs” . © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 35: Adding The Ur Robot In Device Configuration
Note: When you first connect to a robot, it's normal to see some robot errors and/or warnings on the READY pendant. Ignore these for now. You will clear them after you finish adding the robot to Forge/OS. If the robot controller fails to connect, you see this pop-up.
Page 36 Leave the Tool Center Points (TCPs) and Payloads as the Default values. Instead of adding new TCPs and payloads here, set them up in Polyscope. Tap NEXT. Note: For more information on setting up TCPs and payloads in Polyscope, refer back to the "Preparing Polyscope" section. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 37 Note: To use these I/O signals, integrate your I/O devices with the robot controller. Tap SAVE. Forge/OS returns to the Configured Devices list, which shows the new robot as enabled. Note: A device is enabled when its switch is green and toggled to the right. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 38 Tap RESET to try to recover from the errors. If you can't RESET an error, tap MORE to get more details and instructions. Congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 39: Appendix A: Setting Up Forge/Os
Note: If you're installing Forge/OS on a Forge/Ctrl, press F11. You may need to enter the BIOS Admin password. Contact READY Support if you run into this issue. From the boot options, select Install Forge/OS to boot from the installation USB flash drive.
Page 40 VERSION 5.3.0 The installer may take several minutes to load. Wait until the installation wizard opens. Select your language. Then click Install Forge. Choose a keyboard layout. Then click Continue. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 41 Select Erase disk and install forgeos. Then click Continue. Note: If Forge/OS is already installed, the installation wizard will show additional options. The goal is to erase the entire disk for a brand new installation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 42 Confirm that you want to erase the entire disk by clicking Continue. Make a note of the pendant instructions. If you're using a Forge/Ctrl, select the checkbox next to This hardware is a Forge CTRL. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 43 Choose your IPC's host name. The host name identifies the IPC on the network. Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the IPC desktop. They are NOT for signing into Forge/OS on the READY pendant. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 44 VERSION 5.3.0 Wait for the installer to copy and install Forge/OS. Once the installation completes, click Restart Now. When prompted, remove the installation flash drive. Then reboot. Wait for Forge/OS to finish booting. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 45 VERSION 5.3.0 When you see the login screen with the Forge/OS 5 logo, Forge/OS is ready to run on the READY pendant! You don't need to sign in to the desktop. Disconnect the monitor, keyboard, and mouse that you used to install Forge/OS.
Page 46 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there’s only one READY pendant and one IPC on that network.
Page 47 Tap Admin and sign in. The default Admin password is "forgeadmin". Note: After installation, you have limited access to Forge/OS until you activate it with a license code. See Activating Forge/OS with a License Code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 48: Activating Forge/Os With A License Code
▪ A valid Forge/OS license code ▪ A valid Forge/OS license code Tip: Connect a USB keyboard to the port on the bottom of the READY pendant to type in any text field in Forge/ On the Settings app main screen, tap License.
Page 49 If you chose online license activation, you're done! If you chose offline license activation, follow these substeps: Insert the USB flash drive into your IPC. Tap START WRITING CERTIFICATE TO USB DRIVE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 50 Wait for the file to finish transferring. When the file transfer is complete, remove the USB flash drive and tap SAVE. Forge/OS returns to the licensing home screen and shows an active license. If the license status isn't active, restart these license activation steps. Double-check your license code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 51: Choosing Preferences
On the Settings app main screen, tap General Settings. Change the Units of Measure, Time and Date settings, or the Admin login password. Note: If you later forget your password, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu.
Page 52: Resources
RESOURCES Want to learn more about how Forge/OS can empower you? Visit READY.academy (ready.academy) for FREE hands-on courses to help you deploy a robotic system. Visit READY.market (market.ready-robotics.com) for products and services offered by READY and our partners. Visit our Support site (support.ready-robotics.com) for robot startup guides, FAQs, and more.

READY UR CB Series Startup Manual

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