Page 1 Universal Robots e-Series Software Manual e-Series Original instructions (en)
Page 3: Table Of Contents
2.2. Enabling Freedrive: 3PE Teach Pendant 3. Backdrive 3.1. Enabling Backdrive: Standard Teach Pendant 3.2. Enabling Backdrive: 3PE Teach Pendant 3.3. Backdrive Mode Inspection 4. Operational Mode Selection 4.1. Operational Modes 4.2. Three-Position Enabling Device 4.2.1. Manual High Speed Software Manual e-Series...
Page 4 5.15.2. Tool Properties 5.16. I/O 5.16.1. Input Signals 5.16.2. Output Signals 5.16.3. OSSD Safety Signals 5.17. Hardware 5.17.1. Selecting Available Hardware 5.18. Safe Home Position 5.18.1. Syncing from Home 5.19. Safe Home Output 5.19.1. Defining Safe Home Output e-Series Software Manual...
Page 5 7.7. Single Step in a Program 7.8. Command Tab 7.8.1. Add Before Start Sequence 7.8.2. Program Loops Forever 7.9. Graphics Tab 7.10. Variables Tab 7.11. Basic program nodes 7.11.1. Move 7.11.2. Fixed Waypoint 7.11.3. Relative Waypoint 7.11.4. Variable Waypoint 7.11.5. Direction Software Manual e-Series...
Page 6 7.13.8. Screwdriving 7.13.9. Screwdrive Until 7.14. URCaps 7.14.1. Remote TCP and Toolpath URCap 7.14.2. Remote TCP Movement Types 7.14.3. Remote TCP Waypoint 7.14.4. Remote TCP Toolpath 7.14.5. Remote TCP 7.14.6. Remote TCP PCS 7.14.7. Regular TCP Toolpath Moves e-Series Software Manual...
Page 7 8.10.2. Configuring the Tool Communication Interface (TCI) 8.11. Digital Output Mode 8.11.1. Dual Pin Power 8.12. Smooth Transition Between Safety Modes 8.12.1. Adjusting Acceleration/Deceleration Settings 8.13. Home 8.13.1. Defining Home 8.14. Conveyor Tracking Setup 8.14.1. Defining a Conveyor 8.14.2. Conveyor Parameters Software Manual e-Series...
Page 8 8.19.9. Set signal address 8.19.10. Set signal name 8.19.11. Signal value 8.19.12. Signal connectivity status 8.19.13. Show Advanced Options 8.19.14. Advanced Options 8.20. EtherNet/IP 8.21. PROFINET 8.22. PROFIsafe 8.22.1. Communicating via PROFIsafe 8.22.2. Configuring PROFIsafe 8.22.3. Enabling PROFIsafe e-Series Software Manual...
Page 9 12.3. Save... 12.4. File manager 13. Hamburger menu 13.1. Help 13.1.1. How to find the QR code and URL: 13.2. About 13.3. Settings 13.3.1. Preferences 13.3.2. Admin Password 13.4. System 13.4.1. Backup and Restore 13.4.2. Software Update 13.4.3. Network Software Manual e-Series...
Page 10 13.4.4. Managing URCaps 13.4.5. Remote Control 13.4.6. Security 13.5. Shutdown Robot 14. Index e-Series Software Manual...
Page 11: Introduction
1.1. Robot Arm Basics The Universal Robots robot arm is composed of tubes and joints. You use the PolyScope to coordinate the motion of these joints to move the robot arm. You attach tools to end of the robot arm, or Tool Flange .
Page 12: Touch Screen
A commercially available stylus may be used to make selections on the screen if desired. The following section lists and defines the icons/tabs and buttons in the PolyScope interface. 1.2.2. Header Icons/Tabs Run is a simple means of operating the robot using pre-written programs. e-Series Software Manual...
Page 13 Local indicates the robot can be controlled locally. Tap it to switch to Remote control. Remote indicates the robot can be controlled from a remote location. Tap it to switch to Local control. Safety Checksum displays the active safety configuration. Software Manual e-Series...
Page 14: Footer Buttons
Stop halts current loaded robot Program. 1.3. Installation 1.3.1. Installing the Robot Arm and Control Box Install and power on the robot arm and Control Box to start using PolyScope. See Hardware Installation Manual for detailed installation instructions. e-Series Software Manual...
Page 15: Turning The Control Box On/Off
A Getting Stated screen can appear, prompting you to begin programmimg the robot. 1.4. Initialization On your first start up a Cannot Proceed dialog box can appear. Select Go to initialization screen to access the Initialize screen. Software Manual e-Series...
Page 16: Starting Up The Robot Arm
1. Tap the ON button with the green LED to start the initialization process. Then, the LED turns yellow to indicate the power is on and in Idle. 2. Tap the START button to release the breaks. 3. Tap the OFF button with the red LED to power off the robot arm. e-Series Software Manual...
Page 17: Quick System Start-Up
9. Tap the Start button, for the robot to release its brake system. The robot vibrates and makes clicking sounds indicating it is ready to be programmed. NOTE Learn to program your Universal Robots robot on www.universal- robots.com/academy/ 1.6. The First Program A program is a list of commands telling the robot what to do.
Page 18: Robot Registration And License File
Keep your head and torso outside the reach (workspace) of the robot. Do not place fingers where they can be caught. 1.7. Robot Registration and License file It is necessary to register the robot and download and install the License File, because the license file will include all available software licenses. e-Series Software Manual...
Page 19: Activate Remote Tcp & Toolpath Urcap Via Web
3. On the Settings screen, in Step 3, tap Load file to open the Select license file screen. 4. In the list, select the USB to display content and navigate to the license file. 5. Select license.p7b and tap Open to confirm robot registration. 6. On the bottom left, tap Exit. Software Manual e-Series...
Page 20: Deactivate Software Licenses
Before implementing cyber security, you must conduct a risk assessment to: • Identify threats • Define trust zones and conduits • Specify the requirements of each component in the application. 1.8.1. Cyber Security Pre-requisites Before your system can reach a secure state of operation, ensure the following: e-Series Software Manual...
Page 21: Hardening Cyber Security
1. Introduction • You have a thourough understanding of general cyber security principles and advanced technologies as used in your Universal Robots robot. • You take physical security measures to allow only trusted personnel physical access to the robot. • You only connect your robot to a trusted network, behind a firewall restricting both inbound and outbound access to/from the Internet.
Page 22 1. Introduction e-Series Software Manual...
Page 23: Freedrive
The LED on the status bar of the Freedrive panel indicates: • When one or more joints are approaching their joint limits. • When the robot arm’s positioning is approaching singularity. Resistance increases as the robot approaches singularity, making it feel heavy to position. Software Manual e-Series...
Page 24: Enabling Freedrive: Standard Teach Pendant
Movement is allowed through all axes, in a spherical motion, around the TCP. Rotation WARNING Moving the robot arm in some axes when a tool is attached, can present a pinch point. 2.1. Enabling Freedrive: Standard Teach Pendant You can enable Freedrive in the following ways: e-Series Software Manual...
Page 25: Using The Freedrive Button
2.2. Enabling Freedrive: 3PE Teach Pendant To use the 3PE button to freedrive the robot arm: 1. Rapidly light-press, then light-press-and-hold, the 3PE button. Now you can pull the robot arm into a desired position, while the light-press is maintained. Software Manual e-Series...
Page 26: Backdrive
If the robot is close to colliding with something, you can use the Backdrive function to move the Robot Arm to a safe position before initializing. 1. Press ON to enable power. Status changes to Robot Active e-Series Software Manual...
Page 27 3. Backdrive 2. Press and hold Freedrive. Status changes to Backdrive Software Manual e-Series...
Page 28 Verify the robot safety settings comply with the robot installation risk assessment. Additional safety inputs and outputs are still functioning Check which safety inputs and outputs are active and that they can be triggered via PolyScope or external devices. e-Series Software Manual...
Page 29: Operational Mode Selection
*** If a Three-Position Enabling Device is configured, the robot operates at Manual Reduced Speed unless Manual High Speed is activated. NOTE • A Universal Robots robot may not be equipped with a Three-Position Enabling Device. If the risk assessment requires the device, it must be attached before the robot is used.
Page 30 • Automatic indicates the operational mode of the robot is set to Automatic. • Manual indicates the operational mode of the robot is set to Manual. PolyScope is automatically in Manual Mode when the Safety I/O configuration with Three-Position Enabling Device is enabled. e-Series Software Manual...
Page 31: Three-Position Enabling Device
Three-Position Enabling Device to be fully released and pressed again to allow the robot to move. When using Manual High Speed, use safety joint limits (see 5.10. Joint Limits on page 38) or safety planes (see 5.11. Planes on page 39) to restrict the robot’s moving space. Software Manual e-Series...
Page 32 4. Operational Mode Selection e-Series Software Manual...
Page 33: Safety Configuration
4. If a Safety password was previously set, enter the password and press Unlock to make settings accessible. Note: Once Safety settings are unlocked, all settings are now active. 5. Press Lock tab or navigate away from the Safety menu to lock all Safety item settings again. Software Manual e-Series...
Page 34: Setting A Safety Password
You can press the Lock tab to lock all Safety settings again or simply navigate to a screen outside of the Safety menu. 5.3. Changing the Safety Configuration Changes to the Safety Configuration settings must comply with the risk assessment conducted by the integrator (see Hardware Installation Manual ). Recommended procedure: e-Series Software Manual...
Page 35: Applying New Safety Configuration
5.6. Safety Menu Settings This section defines Safety menu settings that make up your robot Safety configuration. 5.7. Robot Limits Robot Limits restrict general robot movements. The Robot Limits screen has two configuration options: Factory Presets and Custom. Software Manual e-Series...
Page 36 NOTE Restricting stopping time and distance affect overall robot speed. For example, if stopping time is set to 300 ms, the maximum robot speed is limited allowing the robot to stop within 300 ms. e-Series Software Manual...
Page 37: Safety Modes
Normal mode is the safety mode that is active by default Reduced mode is active when the robot Tool Center Point (TCP) is positioned beyond a Trigger Reduced mode plane (see 5.11. Planes on page 39), or when triggered using a configurable input (see 5.16. I/O on page 46) Software Manual e-Series...
Page 38: Tolerances
2. Position range is where you define the position range for each joint. Again, the input fields for Reduced mode are disabled if there is no safety plane or configurable input set to trigger it. This limit enables safety-rated soft axis limiting of the robot. e-Series Software Manual...
Page 39: Planes
5.11.1. Modes You can configure each plane with restrictive Modes using the icons listed below. Disabled The safety plane is never active in this state. Software Manual e-Series...
Page 40: Configuring Safety Planes
If the copied feature is modified in the Features screen, a warning icon appears to the right of the Copy Feature text. This indicates that the feature is out of sync i.e. the information in the properties card is not updated to reflect the modifications that may have been made to the Feature. e-Series Software Manual...
Page 41: Elbow
You can enable Restrict Elbow to prevent robot elbow joint from passing through any of your defined planes. Disable Restrict Elbow for elbow to pass through planes. 5.11.4. Color Codes Gray Plane is configured but disabled (A) Software Manual e-Series...
Page 42: Freedrive
5.13.1. Enabling Backdrive 1. On the Initialize screen, tap ON to start the power up sequence. 2. When the robot state is Idle, press and hold the Freedrive button. The robot state changes to Backdrive. e-Series Software Manual...
Page 43: Tool Position
TCP, predefined in General menu, in TCP screen, can be accessed in Tool Position menu, in Copy TCP drop-down list. When you edit or adjust the values in the Edit Position input fields, the name of the TCP visible in Software Manual e-Series...
Page 44: Tool Direction
Before configuring the limit, you must define a point or plane in the robot installation (see 8.17. Features on page 142). The feature can then be copied and its Z axis used as the center of the cone defining the limit. e-Series Software Manual...
Page 45: Limit Properties
Normal mode as well as when it is in Reduced mode. You can reset the values to default or undo the Tool Direction configuration by setting the copy feature back to "Undefined". Software Manual e-Series...
Page 46: Tool Properties
Category 0. Transition to Normal mode occurs in the same way. The trigger planes can also cause a transition to Reduced mode. 3-Position Enabling Device In Manual Mode, an external 3-Position Enabling Device must be pressed and held in the center-on position to move the robot. e-Series Software Manual...
Page 47: Output Signals
Signal is Low if the robot is moving, otherwise high. Robot Not Stopping Signal is High when the robot is stopped or in the process of stopping due to an emergency stop or safeguard stop. Otherwise it will be logic low. Reduced Mode Software Manual e-Series...
Page 48: Ossd Safety Signals
1. In the Header, tap Installation and select Safety. 2. Under Safety, select I/O. 3. On the I/O screen, under Output Signal, select the desired OSSD checkbox. You must assign the output signal to enable the OSSD checkboxes. e-Series Software Manual...
Page 49: Hardware
Robot Arm is in the Safe Home Position if the joint positions are at the specified joint angles or a multiple of 360 degrees thereof. The Safe Home Safety Output is active when the robot is standing still at the Safe Home Position. Software Manual e-Series...
Page 50: Syncing From Home
4. Tap Apply and in the dialog box that appears, select Apply and restart. 5.20. Edit Safe Home Editing Home does not automatically modify a previously defined Safe Home position. While these values are out of sync, Home program node is undefined. e-Series Software Manual...
Page 51: Editing Safe Home
3. Tap Edit Position and set the new robot arm position and tap OK. 4. In the Side Menu, under Safety, select Safe Home. You need a Safety password to Unlock the Safety Settings (See 5.2. Setting a Safety Password on page 34). 5. Under Safe Home, tap Sync from Home Software Manual e-Series...
Page 52 5. Safety Configuration e-Series Software Manual...
Page 53: Run Tab
The same installation can be used with multiple programs. By default, all program variables and installation variables in your program are displayed in the Variables pane. You can also display selected variables by using the Show only favorite variables option. Software Manual e-Series...
Page 54 The Play button, Pause button and the Resume Button are combined. The Play button changes to Pause when the program is running. The Pause button changes to Resume. Button Function Play Resume Stop e-Series Software Manual...
Page 55: Program
Regular program variables These are available to the running program only and their values are lost as soon as the program is stopped. Show waypoints Software Manual e-Series...
Page 56: Robot Age
• The first waypoint is inside an If or Switch program tree node. 6.4.1. Accessing the Move Robot into Position Screen 1. In the Footer, tap Play to access the Move Robot into Position screen. 2. Follow the on-screen instructions to interact withthe animation and the real robot. e-Series Software Manual...
Page 57: Move Robot To
Robot Arm to ensure the Robot Arm can safely perform the movement without colliding with any obstacles. 6.4.3. Manual Tap Manual to access the Move screen where the Robot Arm can be moved by using the Move Tool arrows and/or configuring Tool Position and Joint Position coordinates. Software Manual e-Series...
Page 58 6. Run Tab e-Series Software Manual...
Page 59: Program Tab
• The first waypoint is inside an If or Switch program tree node. 7.1.1. Accessing the Move Robot into Position Screen 1. In the Footer, tap Play to access the Move Robot into Position screen. 2. Follow the on-screen instructions to interact withthe animation and the real robot. Software Manual e-Series...
Page 60: Move Robot To
Programs containing mis-configured, or invalid program nodes are also not allowed to run. Invalid program nodes are highlighted in yellow to indicate what should be fixed before the program is allowed to run. e-Series Software Manual...
Page 61: Program Tree Toolbar
Program Tree. Search Tap the to search in the Program Tree. Tap the icon to exit search. Button 7.3. Variable Setup The Variable Setup is always the first node on the program tree. Software Manual e-Series...
Page 62 Editing program variables includes renaming, describing and setting an initial value with an expression. To rename a program variable 1. Under Variables Setup, select a variable. 2. Select the Name field. 3. Type a name using the on-screen keyboard that appears. e-Series Software Manual...
Page 63: Program Execution Indication
Suppressed program lines are simply skipped when the program is run. A suppressed line can be unsuppressed again at a later time. This is a quick way to make changes to a program without destroying the original contents. Software Manual e-Series...
Page 64: Expression Editor
Play from Beginning runs a program normally. The Play from Selection option is disabled if a program cannot be run from a particular node. Play from Selection cannot be enabled with a thread becasue threads always start from the beginning. e-Series Software Manual...
Page 65: Using Play From Selection
A breakpoint pauses program execution. You can use breakpoints to pause and resume a program at a specific point to inspect robot position, variables etc. See 4.1. Operational Modes on page 29. 1. In a Program tree, tap a line number to set or clear a breakpoint. Software Manual e-Series...
Page 66 • Until nodes: A breakpoint on an until node pauses the program once the until condition is met. Blends used in the until node are not ignored. They are paused when the robot reaches the blend radius. e-Series Software Manual...
Page 67: Single Step In A Program
Select this check-box to add a special section to the program which is run once when the program starts. A variable can be deleted from the program by setting its name to blank (only spaces). 7.8.2. Program Loops Forever Select this to make the program continuous. Software Manual e-Series...
Page 68: Graphics Tab
The 3D view can be zoomed and rotated to get a better view of the robot arm. The buttons in the top-right side of the screen can disable the various graphical components in 3D view. The bottom button switches on/off the visualization of proximate boundary limits. e-Series Software Manual...
Page 69: Variables Tab
You can select the Show Waypoints checkbox, under Variables, to show script variables in the variables list. The table below list variable value types: Variable value types bool A boolean variable whose value is either True or False Software Manual e-Series...
Page 70: Basic Program Nodes
• moveJ makes movements that are calculated in the robot arm joint space. Joints are controlled to finish their movements at the same time. This movement type results in a curved path for the tool. The shared parameters that apply to this movement type are the e-Series Software Manual...
Page 71 The Move command settings do not apply to the path going from the last waypoint under that Move command. Software Manual e-Series...
Page 72 As an alternative to the 3D pose, you can select the Use joint angles checkbox when using the MoveJ to define waypoints using the robot joint angles. If Use joint angles is enabled, TCP and feature options are unavailable. Waypoints defined using Use joint angles are not adjusted when e-Series Software Manual...
Page 73: Fixed Waypoint
The relation between the feature and the TCP, applied to the current selected feature, achieves the desired TCP location. Then the robot figures out how to position itself to let the currently active TCP reach that TCP position. To use a waypoint, follow the instructions below: Software Manual e-Series...
Page 74 It is even acceptable that the robot does not reach (WP_2) exactly, as long as the transition from the first trajectory to the second happens near this position. e-Series Software Manual...
Page 75 If a blend radius is set, the robot arm trajectory blends around the waypoint, allowing the robot arm not to stop at the point. Blends cannot overlap, so it is not possible to set a blend radius that overlaps with the blend radius of a previous or following waypoint as shown in figure 8.4. Software Manual e-Series...
Page 76 (e.g. the I/O command) it is executed when the robot arm has stopped at the waypoint. MoveL WP_I WP_1 (blend) WP_2 (blend) if (digital_input[1]) then WP_F_1 else WP_F_2 e-Series Software Manual...
Page 77 The conditional if expression is evaluated when the robot arm enters the second blend (*). Blend Trajectories WP_2 WP_1 WP_3 WP_2 WP_1 WP_3 8.6: Joint space (MoveJ) vs. cartesian space (MoveL) movement and blend. Software Manual e-Series...
Page 78: Relative Waypoint
The orientation blends with a smooth interpolation between the two trajectories. The robot may decelerate on the trajectory before following the circular arc to avoid very high accelerations (e.g., if the angle between the two trajectories are close to 180 degrees). 7.11.3. Relative Waypoint e-Series Software Manual...
Page 79: Variable Waypoint
If, when running the program, the blend radius overlaps a point, the robot will ignore it and move to the next one. For example, to move the robot 20 mm along the z-axis of the tool: var_1=p[0,0,0.02,0,0,0] Movel Waypoint_1 (variable position): Use variable=var_1, Feature=Tool Software Manual e-Series...
Page 80: Direction
Direction vectors of [100,0,0] and [1,0,0] have the exact same effect on the robot; use the Speed Slider to moving along the x-axis at a desired speed. The values of the numbers in the direction vector only matter relative to each other. e-Series Software Manual...
Page 81: Until
7.11.7. Until-Tool Contact The program node Until Tool Contact allows the robot to stop its motion when contact with the tool is established. You can define the deceleration of the stop and the retraction of the tool. Software Manual e-Series...
Page 82 Until Tool Contact might not work if the mounted tool vibrates. For example: a vaccuum gripper with an embedded pump can introduce fast vibrations. You can use the Until Tool Contact Node for applications like Stacking/Destacking, where Until Tool Contact determines the height of stacked objects. e-Series Software Manual...
Page 83: Wait
Wait pauses I/O signal, or expression, for a given amount of time. If No Wait is selected, nothing is done. When the Tool Communication Interface TCI is enabled, the tool analog input is unavailable for Wait For selection and expressions. Software Manual e-Series...
Page 84: Set
If the active TCP for a particular motion is known at the time of writing of the program, you can use the TCP selection by tapping Move in the Side Menu on the left, (see 7.11.1. Move on page 70). For further information about configuring named TCPs (see 8.2. TCP Configuration on page 123). 7.11.10. Popup e-Series Software Manual...
Page 85: Halt
You can also select Halt program execution at this popup for the program to stop when the popup appears. During program execution, when the popup message appears, tap OK in the popup dialog box to continue the program. 7.11.11. Halt The program execution stops at this point. Software Manual e-Series...
Page 86: Comment
A Folder is used to organize and label specific parts of a program, to clean up the program tree, and to make the program easier to read and navigate. Folders have no impact on the program and its execution. e-Series Software Manual...
Page 87: Set Payload
• Or, use the drop-down to configure a new payload by selecting Custom Payload and completing the mass and CoG fields. You can also use the Set Active button to set the values on the node as the active payload. Software Manual e-Series...
Page 88: Advanced Program Nodes
“loop” can be interrupted anytime during its execution, rather than just after each iteration. 7.12.2. If If and If...Else statements change the robot’s behavior based on sensor inputs or variable values. e-Series Software Manual...
Page 89 Check Expression Continuously option, you can add a stopj() or a stopl() after the expression to gently decelerate the robot arm. This is valid for both If and Loop Commands (see section 7.12.1. Loop on the previous page). Software Manual e-Series...
Page 90: Subprogram
SubProgram. Call Subroutine A call to a Subroutine will run the program lines in the SubProgram, and then return to the following line. e-Series Software Manual...
Page 91: Assignment
You can also request a variable value from an operator. When requesting a value from an operator, it is possible to display an Operator Message to validate input against common variable types. 7.12.5. Script The following options are available in the drop down list under Command: Software Manual e-Series...
Page 92: Event
200ms and then set it back to low again. This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input level. Events are checked once every control cycle (2ms) . e-Series Software Manual...
Page 93: Thread
A thread is a parallel process to the robot program. A thread can be used to control an external machine independently of the robot arm. A thread can communicate with the robot program with variables and output signals. 7.12.8. Switch Software Manual e-Series...
Page 94: Timer
A Timer measures the length of time it takes for specific parts of the program to run. A program variable contains the time passed since a Timer started, and can be seen in the Variables Tab and in the Run Tab. e-Series Software Manual...
Page 95: Home
Furthermore, you can use Features from Pallet Properties to easily adjust the placement of your pallet. To learn about Features, see 8.17. Features on page 142. Follow the Creating a Palletizing Program section below to use the Palletizing template. Software Manual e-Series...
Page 96 Line, Grid, or Irregular (see figure below). On this screen, you can select if you want to include a separator between layers (see Adding a Separator Between Layers in a Palletizing Sequence on page 99). e-Series Software Manual...
Page 97 The At Each Item Wizard assists in defining the actions performed at each item on a pallet, such as the ReferencePoint, the Approach Waypoint, ToolActionPoint Waypoint, and Exit Waypoint (described in the table below). The Approach and Exit Waypoints for each item remains in the same orientation and direction regardless of the different items’ orientation. Software Manual e-Series...
Page 98 Tool Action: The action you want the robot attachment to perform for each item. Tool Action Exit Waypoint: The position and direction you want the robot to take when moving away from an item in a layer. Exit e-Series Software Manual...
Page 99 When the wizard is complete, or if you cancel the wizard, a template appears in the Program Tree under Separator Action. In addition to the Tool Action folder under the Separator Action node, you can select one of the following folders: Software Manual e-Series...
Page 100 • You can edit the properties of the move commands (see 7.11.1. Move on page 70). • You can change the speeds and blends radii (see 7.11.1. Move on page 70). • You can add other program nodes to the At Each Item sequence or the Separator Action sequence. e-Series Software Manual...
Page 101: Seek
You must also define the condition for when the next stack position is reached, and a special program sequence that is performed at each stack position. Speed and accelerations need to be given for the movement involved in the stack operation. Software Manual e-Series...
Page 102 In subsequent rounds, the robot starts the search from the remembered position, incremented by the item's thickness along the direction. Stacking is complete when the stack height is more than some defined number, or when a sensor gives a signal. e-Series Software Manual...
Page 103 In subsequent rounds, the robot starts the search from the remembered position, incremented by the item's thickness along the direction. Starting position The starting position is where the stack operation starts. If the starting position is omitted, the stack starts at the robot arm’s current position. Software Manual e-Series...
Page 104 The optional AfterEnd sequence is run when the operation is finished. This can be used to signal conveyor motion to start, preparing for the next stack. Pick/Place Sequence The Pick/Place Sequence is a special program sequence performed at each stack position, similar to the Pallet operation. e-Series Software Manual...
Page 105: Force
WARNING 1. Avoid high deceleration just before entering force mode. 2. Avoid high acceleration in force mode, since it decreases force control accuracy. 3. Avoid movements parallel to compliant axes before entering force mode. Software Manual e-Series...
Page 106 The y-axis will be perpendicular to the robot arm’s motion, and in the x-y plane of the selected feature. This can be useful when de-burring along a complex path, where a force is needed perpendicular to the TCP motion. e-Series Software Manual...
Page 107: Force Value Selection
Upon leaving this screen, the Test button automatically switches off, which means the Freedrive button on the back of the Teach Pendant is again used for regular Freedrive mode. The Freedrive button is only effectual when a valid feature is selected for the Force command. Software Manual e-Series...
Page 108: Conveyor Tracking
Program Tree. Any movements listed under the Conveyor Tracking node tracks the movement of the conveyor. 3. Under Conveyor Tracking, in the Select Conveyor dropdown list, select Conveyor 1 or Conveyor 2 to define which conveyor must be tracked. e-Series Software Manual...
Page 109: Screwdriving
4. In the Program Selection field, you can select a screwdriver program, depending on the Program Selection signals in the Installation. 5. Select Enable Starting Point, to add a MoveL to the Program Tree that is executed when the screwdriver is already running. Software Manual e-Series...
Page 110: Screwdrive Until
7.13.9. Screwdrive Until The Screwdriving program node includes a mandatory until success Until node that defines stop criteria for the screwdriving process. You can define the following stop criteria: e-Series Software Manual...
Page 111: Urcaps
The RTCP works in applications that require the robot to grasp and move items, relative to a fixed tool. The RTCP is used together with the RTCP_MoveP and RTCP_CircleMove commands to move a grasped part with constant speed, relative to the fixed tool. Software Manual e-Series...
Page 112 1. Tap the plus icon to create a new RTCP RTCP. Or select an existing RTCP in the drop-down menu. 2. Tap the Copy values from a point feature drop-down menu and select a Feature. Verify the RTCP orientation values update to match that of the selected Feature. e-Series Software Manual...
Page 113: Remote Tcp Movement Types
The default blend radius size is a shared value between all the waypoints. A smaller blend radius size sharpens the path turn. A larger blend radius size smoothens the path. RTCP Waypoints are taught by physically moving the Robot Arm to a desired position. Software Manual e-Series...
Page 114: Remote Tcp Toolpath
MoveP node. If an unsupported node is added as a child to an RTCP_MoveP node, the program fails to validate. 7.14.4. Remote TCP Toolpath The Remote TCP and Toolpath URCap generates robots motions automatically, making it easier to follow complex trajectories accurately. e-Series Software Manual...
Page 115 3. Create a toolpath relative to the PCS based on part features 4. Simulate the toolpath motion to verify it meets expectation. 5. Export the toolpath into a G-code file with .nc file extension. Importing a G-code Toolpath into PolyScope Software Manual e-Series...
Page 116: Remote Tcp
The Remote TCP Part Coordinate System (PCS) is defined as fixed relative to the robot tool flange. Tap the wand, on the PolyScope screen, to activate the wizard to teach the Remote TCP PCS. You can use either of the teaching methods described below. e-Series Software Manual...
Page 117 5. Enter the coordinates for the first reference point. 6. Jog the robot for the Remote TCP to touch the first reference point on the part. 7. Repeat steps five and six for the other reference points. Software Manual e-Series...
Page 118 7. Create an Assignment or Script node to update variable_rtcp_pcs_1 before the RTCP Toolpath Node. The following section explains how to use a variable PCS in a Remote TCP Toolpath node. Configuring a Remote TCP Toolpath Node e-Series Software Manual...
Page 119: Regular Tcp Toolpath Moves
• Plane Feature as a PCS Configuring and Importing a Toolpath File This is similar to configuring a Toolpath (see Configuring a Toolpath using CAD/CAM Software on page 115) and importing Toolpath (see Importing a G-code Toolpath into PolyScope on page 115). Software Manual e-Series...
Page 120 6. Tap Move to First Point to verify the tool can move to the first point of the toolpath. 7. Run the program in the simulation mode, at a low speed, to confirm the configurations are correct. e-Series Software Manual...
Page 121 You can ensure the robot motion is identical, each time the toolpath is executed, by adding a MoveJ with a Use Joint Angles set to move to a fixed joint configuration before executing the toolpath. See 7.11.1. Move on page 70 Software Manual e-Series...
Page 122 7. Program Tab e-Series Software Manual...
Page 123: Installation Tab
8.2.2. Orientation The RX, RY, RZ coordinate boxes specify the TCP orientation. Similar to the Move Tab, use the Units drop down menu above the RX, RY, RZ boxes to select the orientation coordinates (see ). Software Manual e-Series...
Page 124: Adding, Renaming, Modifying And Removing Tcps
• Select the desired TCP and tap Set as default to set a TCP as the default. The green icon in the available drop-down menu indicates the default configured TCP. 8.2.4. Teaching TCP position TCP position coordinates can be calculated automatically as follows: e-Series Software Manual...
Page 125: Teaching Tcp Orientation
TCP coincide with the selected features’s coordinate system. 4. Verify the calculated TCP orientation and apply it to the selected TCP by tapping Set. 8.3. Payload You must set the Payload, the CoG and the inertia for the robot to perform optimally. Software Manual e-Series...
Page 126: Adding, Renaming, Modfying And Removing Payloads
The green icon in the drop-down menu indicates the default configured Payload 8.3.2. Setting the Center of Gravity Tap the fields CX, CY and CZ to set the center of gravity. The settings apply to the selected Payload. e-Series Software Manual...
Page 127: Payload Estimation
The inertia is specified in a coordinate system with the origin at the Center of Gravity (CoG) of the payload and the axes aligned with the tool flange axes. The default inertia is calculated as the inertia of a sphere with the user specified mass, and a mass density of 1g/cm Software Manual e-Series...
Page 128: Mounting
Robot arm to hold itself in Freedrive Mode. For this reason, it is important to mount the Robot arm correctly. WARNING Failure to mount the Robot’s arm correctly may result in frequent Protective Stops, and/or the Robot arm will move when pressing the Freedrive button. e-Series Software Manual...
Page 129: I/O Setup
If you enable the Tool Communication Interface (TCI), the tool analog input becomes unavailable. 8.5.1. I/O Signal Type To limit the number of signals listed under Input and Output, use the View drop-down menu to change the displayed content based on signal type. Software Manual e-Series...
Page 130: Assigning User-Defined Names
If the robot is paused while using the Start input action, the robot slowly moves to the position from where it was paused before resuming that program. Available Output Actions: e-Series Software Manual...
Page 131 • Runtime exception I/O Tab Control Use I/O Tab Control to specify whether an output is controlled on the I/O tab (by either programmers, or both operators and programmers), or if it is controlled by the robot programs. Software Manual e-Series...
Page 132: Installation Variables
3. You can describe the new installation variable in the Description field. 4. You can set the new variable as favorite by checking the Favorite variable box. 5. Tap OK to add the new variable to the Installation Variables list. e-Series Software Manual...
Page 133: Startup
You cannot edit the variable name in this step. Changes to edited installation variables take immediate effect. To delete a variable 1. Select the desired variable and tap Delete. 2. Select Delete Variable in the confirmation pop-up 8.7. Startup Software Manual e-Series...
Page 134: Loading A Startup Program
The default program is auto started in the Run Program screen. When the default program is loaded and the specified external input signal edge transition is detected, the program is started automatically. On Startup, the current input signal level is undefined. Choosing a transition that matches the e-Series Software Manual...
Page 135: Tool I/O
Digital Output Mode settings. NOTE If a URCap controls an end-effector, such as a gripper, then the URCap requires control of the Tool IO Interface. Select the URCap in the list, to allow it to control the Tool IO Interface. Software Manual e-Series...
Page 136: Tool Analog Inputs
After selecting a new output configuration, the changes take effect. The currently loaded installation is modified to reflect the new configuration. After verifying the tool outputs are working as intended, make sure to save the installation to prevent losing changes. e-Series Software Manual...
Page 137: Dual Pin Power
Home is a user-defined return position for the Robot Arm. Once defined, the Home Position is available when creating a robot program. You can use the Home Position to define a Safe Home Position.(See 5.18. Safe Home Position on page 49) Use the Home screen buttons for the following: Software Manual e-Series...
Page 138: Defining Home
Rising, Falling, or Rise and Fall edges which determine conveyor speed. Absolute encoders can be connected through a MODBUS signal. This requires a Digital MODBUS Output register preconfigured in (section 8.19. MODBUS Client I/O Setup on page 151). e-Series Software Manual...
Page 139: Tracking Parameters
8.15. Screwdriving Setup The Screwdriving Setup provides options for configuring the robot to work with an industrial screwdriver or an industrial nutrunner. You can setup the screwdriver’s position with respect to the robot’s tool flange and electrical interface. Software Manual e-Series...
Page 140: Configuring A Screwdriver
• RY: 0.0000 rad • RZ: 0.0000 rad Orientation • RX: 0.0000 rad Screwdriving axis parallel to the positive X direction of the robot’s tool flange • RY: 1.5708 rad • RZ: 0.0000 rad e-Series Software Manual...
Page 141: Configuring The Screwdriver Interface
• Program Selection: one integer, or up to four binary signals, can be selected to activate different tightening configurations stored in the screwdriver • Program Selection Delay: wait time to be used after changing the screwdriver’s program to make sure it is active 8.16. Safety See chapter 5. Safety Configuration on page 33. Software Manual e-Series...
Page 142: Features
• The Base feature is located with origin in the centre of the robot base (see figure 9.1). • The Tool feature is located with origin in the centre of the current TCP (see figure 9.2). e-Series Software Manual...
Page 143: Using A Feature
When a feature is chosen as a reference, the Move Tool buttons for translation and rotation operate in the selected feature space (see 9.3. Tool Position on page 162) and (9.1. Move Tool on page 161), reading of the TCP coordinates. For example, if a table is defined as a Software Manual e-Series...
Page 144: Using Move Here
8.17.4. Line feature The line feature defines lines that the robot needs to follow. (e.g., when using conveyor tracking). A line l is defined as an axis between two point features p1 and p2 as shown in figure 9.3. e-Series Software Manual...
Page 145: Plane Feature
The position of the line coordinate system is the same as the position of p1. 8.17.5. Plane Feature Select the plane feature when you need a frame with high precision: e.g., when working with a vision system or doing movements relative to a table. Software Manual e-Series...
Page 146: Example: Manually Updating A Feature To Adjust A Program
8.17.6. Example: Manually Updating a Feature to Adjust a Program Consider an application where multiple parts of a robot program is relative to a table. Figure illustrates the movement from waypoints wp1 through wp4. e-Series Software Manual...
Page 147: Example: Dynamically Updating A Feature Pose
8.17.7. Example: Dynamically Updating a Feature Pose Consider a similar application where the robot must move in a specific pattern on top of a table to solve a particular task (see 9.5). Software Manual e-Series...
Page 148 = 0.01 o = p[0,y,0,0,0,0] P1_var = pose_trans(P1_var, o) MoveL # Feature: P1_var 9.6: Applying an offset to the plane feature Robot Program MoveJ if (digital_input[0]) then P1_var = P1 else P1_var = P2 MoveL # Feature: P1_var e-Series Software Manual...
Page 149: Feature Edit
The Feature Edit is an alternative way to add features to your installation and/or edit existing features. Use Edit to place and move features without moving the robot arm, so the feature can be placed outside of the robot arm's reach. Software Manual e-Series...
Page 150 2. Under Feature, select Line to add a line to your program tree. 3. The line is made up of two points: • Tap one point to edit those coordinates, then tap the other line point to edit those coordinates. e-Series Software Manual...
Page 151: Fieldbus
Each signal has a unique name so it can be used in programs. 8.19.1. Refresh Push this button to refresh all MODBUS connections. Refreshing disconnects all modbus units, and connects them back again. All statistics are cleared. 8.19.2. Add unit Push this button to add a new MODBUS unit. Software Manual e-Series...
Page 152: Delete Unit
0x05 (Write Single Coil) is used onwards. Register input A register input is a 16-bit quantity read from the address specified in the address field. The function code 0x04 (Read Input Registers) is used. Register output e-Series Software Manual...
Page 153: Set Signal Address
(or slave), check that the enterd signal value is valid for the specified address on the remote MODBUS server. SLAVE DEVICE FAILURE (0x04) An unrecoverable error occurred while the server (or slave) was attempting to perform the requested action. Software Manual e-Series...
Page 154: Show Advanced Options
The average frequency of client (master) signal status updates. This value is recalculated each time the signal receives a response from the server (or slave). All counters count up to 65535, and then wrap back to 0. e-Series Software Manual...
Page 155: Ethernet/Ip
IO pins of the robot control box. PROFIsafe is only available on robots that have an enabling license, which you can obtain by contacting your local sales representative, once obtained, the license can be downloaded on myUR. Software Manual e-Series...
Page 156: Communicating Via Profisafe
Robot is performing, or it has completed, a safety stop of category 2; A controlled stop after which the motors are left in a power on state. Violation Robot is stopped because the safety system failed to comply with the safety limits currently defined. e-Series Software Manual...
Page 157 The signal follows the safeguard reset semantics. A configured safeguard stop reset functionality shall be used to reset this signal PROFIsafe implies use of the safeguard reset functionality Software Manual e-Series...
Page 158: Configuring Profisafe
Configuring PROFIsafe relates to programming the safety PLC, but requires minimal robot setup. 1. Connect the robot to a trusted network that accesses a safety compliant PLC. 2. On PolyScope, in the Header, tap Installation. 3. Tap Safety, select PROFIsafe and configure as needed. e-Series Software Manual...
Page 159: Enabling Profisafe
PROFIsafe is enabled. The robot is now setup to communicate with a safety PLC. You cannot release the robot's brakes if the PLC is not responding or if it is misconfigured. Software Manual e-Series...
Page 160 8. Installation Tab e-Series Software Manual...
Page 161: Move Tab
TCP is allowed to be positioned. Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane, where the Normal mode limits (see 5.8. Safety Modes on page 37) are active. The tool orientation Software Manual e-Series...
Page 162: Feature
You can configure joints with a position range different from the default (see 5.10. Joint Limits on page 38), this new range is indicated with red zone inside the horizontal bar. e-Series Software Manual...
Page 163: Pose Editor Screen
Once you access the Pose Editor screen, you can precisely configure a target joint positions, or a target pose (position and orientation) for the TCP. Note: This screen is offline and does not control the Robot Arm directly. Software Manual e-Series...
Page 164 Or you can hold down a button to directly increase/decrease the value. Joint Positions Individual joint positions are specified directly. Each joint position can have Joint Limit range from ∘ ∘ − 360 to + 360 . You can configure Joint Positions as follows: e-Series Software Manual...
Page 165 Robot Arm moves to the target position using movement type MoveL; or it uses movement type MoveJ if a joint position was specified last (see Movement Types on page 70). Cancel Button The Cancel button exits the screen discarding all changes. Software Manual e-Series...
Page 166 9. Move Tab e-Series Software Manual...
Page 167: I/O Tab
The analog I/O’s can be set to either current [4-20mA] or voltage [0-10V] output. The settings will be remembered for eventual later restarts of the robot controller when a program is saved. Selecting a URCap, in Tool Output, removes access to the Domain Settings for the analog Tool Inputs. Software Manual e-Series...
Page 168: Modbus
MODBUS unit if more than one is configured. Each signal in the lists contains its connections status, value, name, and signal address. The output signals can be toggled if the connection status and the choice for I/O tab control allows it (see 8.5. I/O Setup on page 129). e-Series Software Manual...
Page 169 10. I/O Tab Software Manual e-Series...
Page 170 10. I/O Tab e-Series Software Manual...
Page 171: Log Tab
The last column shows a short description of the message itself. Some log messages are designed to provide more information that is displayed on the right side, after selecting the log entry. Software Manual e-Series...
Page 172: Saving Error Reports
• Emergency stop • Fault • Internal PolyScope exceptions • Protective Stop • Unhandled exception in URCap • Violation The exported report contains: a user program, a history log, an installation and a list of running services. e-Series Software Manual...
Page 173: Technical Support File
The export process can take up to 10 minutes depending on USB drive speed and the size of files collected from robot file system. The report is saved as a regular zip file, that is not password protected, and can be edited before sending to technical support. Software Manual e-Series...
Page 174 11. Log Tab e-Series Software Manual...
Page 175: Program And Installation Manager
1. In the Program and Installation Manager, tap Open... and select Program. 2. On the Load Program screen, select an existing program and tap Open. 3. In the File Path, verify that the desired program name is displayed. Opening an Installation. Software Manual e-Series...
Page 176: New
4. On the Save Program As screen, assign a file name and tap Save. 5. In the File Path, verify that the new program name is displayed. Creating a new Installation Save your installation for use after powering down the robot. e-Series Software Manual...
Page 177: Save
Save Program As... to change the new Program name and location. The current Installation is also saved, with the existing name and location. Save Installation As... to change the new Installation name and location. The current Program is saved, with the existing name and location. Software Manual e-Series...
Page 178: File Manager
The action bar consists of a series of buttons that enable you to manage files. The ’Backup’ action to the right of the action bar supports backing up the currently selected files and directories to the location and to a USB. The ’Backup’ action is only enabled when an external e-Series Software Manual...
Page 179 12. Program and Installation Manager media is attached to the USB port. Software Manual e-Series...
Page 180 12. Program and Installation Manager e-Series Software Manual...
Page 181: Hamburger Menu
13.1.1. How to find the QR code and URL: 1. Tap in the top right corner from anywhere in PolyScope 2. Tap in the dropdown menu 3. Now you can scan the QR code to access help.universal-robots.com Software Manual e-Series...
Page 182: About
• Serial number of the robot arm 13.2. About You can display Version and Legal data. 1. Tap the Hamburger menu and select About. 2. Tap either Version or Legal to display data. 3. Tap Close to return to your screen. e-Series Software Manual...
Page 183: Settings
1. In the Header, tap the Hamburger menu icon and select Settings. 2. Under Preferences, tap Run Screen. 3. Select check box to show or hide Speed Slider. 13.3.2. Admin Password Use the Admin password to change the security configuration of the system, including network access. Software Manual e-Series...
Page 184 Creating a strong, secret password obtains the best security for your system. 5. Under Confirm new password, repeat your new password. 6. Tap Apply to confirm your password change. Safety The Safety password prevents unauthorized modification of the Safety settings. e-Series Software Manual...
Page 185: System
1. In the Header, tap the Hamburger menu icon and select Settings. 2. Under System, tap Backup Restore. 3. Select your Backup file and press Restore. 4. Tap OK to confirm. 13.4.2. Software Update Install updates from a USB to ensure the robot software is up-to-date. Software Manual e-Series...
Page 186: Network
4. If you wish to proceed with the installation of that URCap, press Restart. After that step, the URCaps is installed and ready to be used. 5. To remove an installed URCaps, select it from Active URCaps, press the - button and press Restart so changes can take effect. e-Series Software Manual...
Page 187 Enabling Remote Control does not immediately start the feature. It allows you to switch from Local Control to Remote Control. 4. In the profile menu, select Remote Control to alter PolyScope. You can return to Local Control by switching back in the profile menu. Software Manual e-Series...
Page 188 Magic files have unrestricted privileges to make system changes, thus they must be considered as a security liability. Running Magic Files 1. In the Header, tap the Hamburger menu and select Settings. 2. Under Security, select General. 3. Enter your Admin password. 4. Enable Run Magic Files. e-Series Software Manual...
Page 189 5. Enter the interfaces to be closed in Disable inbound access to additional interfaces (by port). Secure Shell (SSH) Secure Shell (SSH) provides a private (encrypted) and authenticated connection to the robot allowing: • operating system access • file copying • tunneling of network interfaces Software Manual e-Series...
Page 190 Dashboard service) in a secure and encrypted tunnel requiring authentication. 5. Select the Authentication type. Authentication Any SSH connection requires the connecting user to authenticate when the connection is established. You can set up authentication with a password and/or with a pre-shared, authorized key. e-Series Software Manual...
Page 191 Enabling a Service 1. In the Header, tap the Hamburger menu and select Settings. 2. Under Security, select Services. 3. Enter your Admin password. 4. In the list, select an option and tap Enable, or tap Disable. Software Manual e-Series...
Page 192 The Shutdown Robot button allows the robot to be powered off or restarted. Shutting Down the Robot 1. In the Header, tap the Hamburger menu and select Shutdown Robot. 2. When the Shutdown Robot dialog box appears, tap Power Off. e-Series Software Manual...
Page 193 Base 11, 72 Base feature 142 Blend parameters 75 Blending 74 Cone angle 45 Cone center 45 Control 54 control box 15, 167 Control Box 132 Conveyor Tracking 108 Conveyor Tracking Setup 138 Custom 36 Delete 40 Software Manual e-Series...
Page 194 Expression Editor 94 Factory Presets 36 Feature 139, 142, 162 Feature menu 106 File Path 175 Folder 86 Footer 11, 56, 59 Frame 106 Freedrive 29, 107, 128, 143, 162-163 Hamburger Menu 14 Header 11 Home 162 e-Series Software Manual...
Page 195 Manual High Speed 14, 31 Manual mode 29 MODBUS 138, 151, 153, 168 mode Automatic 13, 30 Local 13 Manual 13, 30 Remote 13 Modes 39 Momentum 36 Motion 106 Move 13, 29, 70-71, 84, 165 Move robot to 57, 60 Software Manual e-Series...
Page 196 Open... 13, 175 output signals 47 Pan angle 46 Play 14, 56, 59 Point 106 PolyScope 11, 14, 17, 49, 88, 123, 151, 155, 188 popup 85 Pose Editor 162-163 Position 43 Position range 38 Power 36 Profinet 155 e-Series Software Manual...
Page 197 Robot Limits 35 Robot Moving 47 Robot Not Stopping 47 robot program 60 Robot Program Node 67 Run 12, 53 safe Home 48 Safeguard Reset 47 Safety Checksum 13, 35 Safety Configuration 33-35, 38 Safety planes 39, 161, 164 Software Manual e-Series...
Page 198 Teach Pendant 11, 15, 49, 107, 187 Templates 108 Test button 107 Tilt angle 46 Tool 43 Tool Center Point 37, 72, 123, 162 Tool Center Position 43 Tool Communication Interface 136 Tool Direction 44-45 Tool feature 142 e-Series Software Manual...
Page 199 Trigger Reduced Mode 40 Until 80 Until Distance 81 Until Expression 81 Until Tool Contact 81 URCaps 186 Variable feature 72 Variable waypoint 72 Variables 53, 55, 69 Voltage 167 Wait 83 Waypoint 70, 72-74, 79 Waypoints 17 Wrist 11 Software Manual e-Series...

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