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Universal Robots UR3e PolyScope X User Manual
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Universal Robots UR3e PolyScope X User Manual

Universal Robots UR3e PolyScope X User Manual

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UR3e PolyScope X
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PolyScope X

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Summary of Contents for Universal Robots UR3e PolyScope X

  • Page 1 User Manual UR3e PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR3e PolyScope X User Manual...
  • Page 3 Universal Robots A/S. This document is periodically reviewed and revised. Universal Robots A/S assumes no responsibility for any errors or omissions in this document. Copyright © 2009–2024 by Universal Robots A/S. The Universal Robots logo is a registered trademark of Universal Robots A/S. User Manual UR3e PolyScope X...
  • Page 4 UR3e PolyScope X User Manual...
  • Page 5 5.1. Workspace and Operating Space 5.2. Dimensioning the Stand 5.3. Mounting Description 5.3.1. Singularity 5.3.2. Fixed and Movable Installation 5.4. Securing the Robot Arm 5.5. Control Box Clearance 5.6. Robot Connections: Base Flange Cable 5.7. Robot Connections: Robot Cable User Manual UR3e PolyScope X...
  • Page 6 8.2. Safely Setting the Active Payload 9. Cybersecurity Threat Assessment 9.1. General Cybersecurity 9.2. Cybersecurity Requirements 9.3. Cybersecurity Hardening Guidelines 10. Emergency Events 10.1. Emergency Stop 10.2. Movement Without Drive Power 11. Transportation 11.1. Teach Pendant Storage 12. Maintenance and Repair UR3e PolyScope X User Manual...
  • Page 7 12.1. Testing Stopping Performance 12.2. Robot Arm Cleaning and Inspection 13. Disposal and Environment 14. Risk Assessment 14.1. Pinch Hazard 14.2. Stopping Time and Stopping Distance 15. Declarations and Certificates (original EN) 16. Declarations and Certificates 17. Certifications 18. Certificates 19. Index User Manual UR3e PolyScope X...
  • Page 8 UR3e PolyScope X User Manual...
  • Page 9 Read and follow the recommendations for intended use and the specifications provided in the User Manual. Universal Robots robots are intended for industrial use, to handle tools/end effectors and fixtures, or to process or transfer components or products. For details about the conditions under which the robot should operate.
  • Page 10 UR robots or UR products. • Misuse is prohibited as the result could be death, personal injury, and /or property damage UNIVERSAL ROBOTS EXPRESSLY DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY OF FITNESS FOR ANY PARTICULAR USE. WARNING Do not modify the robot.
  • Page 11 • Your application risk assessment shall include the risks associated with the application's reach, motion, payload and speed of the robot, end effector and workpiece. User Manual UR3e PolyScope X...
  • Page 12 2. Your Robot Introduction Congratulations on the purchase of your new Universal Robots robot, which consists of the robot arm (manipulator), Control Box and the Teach Pendant. Originally designed to mimic the range of motion of a human arm, the robot arm is composed of aluminium tubes, articulated by six joints, allowing for a high range of flexibility in your automation installation.
  • Page 13 • Wrist 3: where the tool is attached to the Tool Flange. The robot is partly completed machinery, as such a Declaration of Incorporation is provided. A risk assessment is required for each robot application. User Manual UR3e PolyScope X...
  • Page 14 Sign into myur.universal-robots.com to access the portal. In the myUR portal, your cases are handled either by your preferred distributor, or escalated to Universal Robots Customer Service teams. You can also subscribe to robot monitoring and manage additional user accounts in your company.
  • Page 15 • PolyScope Software Handbook with descriptions and instructions for the software • The Service Handbook with instructions for troubleshooting, maintenance and repair • The Script Directory with scripting for in depth programming User Manual UR3e PolyScope X...
  • Page 16 Standard (PVC) 6 m/236 in x 13.4 mm Robot Cable: Robot Arm to Control Box Standard (PVC) 12 m/472.4 in x 13.4 mm (options) Hiflex (PUR) 6 m/236 in x 12.1 mm Hiflex (PUR) 12 m/472.4 in x 12.1 mm UR3e PolyScope X User Manual...
  • Page 17 2. Your Robot User Manual UR3e PolyScope X...
  • Page 18 The controller software automatically adjusts accelerations when the following parameters are correclty configured: • Payload mass • Center of gravity • Inertia You can use the URSim to evaluate the accelerations and cycle times of the robot motions with a specific payload. UR3e PolyScope X User Manual...
  • Page 19 The multitask screen is independent of the main screen, so you can do separate tasks. For example, you can configure a program in the main screen, while moving the robot arm in the multitask screen. You also can hide the multitask screen if it is not needed. User Manual UR3e PolyScope X...
  • Page 20 "tap". 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 X interface. The following section lists and defines the icons/tabs and buttons in the Polyscope X interface. UR3e PolyScope X User Manual...
  • Page 21 Displays information about the robot To configure settings about the software, eg Settings language and units Shutdown To shutdown the robot Displays the active safety checksum and Safety Checksum detailed parameters Footer Buttons Icon Title Description User Manual UR3e PolyScope X...
  • Page 22 Play Starts the current loaded program. Step Allows a program to be run single-stepped Stop Halts the current loaded program Manages the robot state. When RED, press it Speed slider to make the robot operational UR3e PolyScope X User Manual...
  • Page 23 It is essential to observe and follow all assembly instructions in the following sections of this manual. NOTICE Universal Robots disclaims any and all liability if the robot (arm Control Box with or without Teach Pendant) is damaged, changed or modified in any way. Universal Robots cannot be held responsible for...
  • Page 24 GROUND Indicates grounding. PROTECTIVE GROUND Indicates protective grounding. NOTICE Indicates the risk of damage to equipment and/or information to be noted. READ MANUAL Indicates more detailed information that should be consulted in the manual. UR3e PolyScope X User Manual...
  • Page 25 WARNING Handling tools/end effectors with sharp edges and/or pinch points can result in injury. • Make sure tools/end effectors have no sharp edges or pinch points. • Protective gloves and/or protective eyeglasses could be required. User Manual UR3e PolyScope X...
  • Page 26 NOTICE Very strong magnetic fields can damage the robot. • Do not expose the robot to permanent magnetic fields. READ MANUAL Verify all mechanical and electrical equipment is installed according to relevant specifications and warnings. UR3e PolyScope X User Manual...
  • Page 27 *Stop the robot with power available to the drives, while maintaining the trajectory. Drive power is maintained after the robot is stopped. *Universal Robots robots’ Category 2 stops are further described as SS1 or as SS2 type stops according to IEC 61800-5-2.
  • Page 28 For Old Password, type the current Safety password. For New Password, type a password. For Repeat Password, type the same password and tap Change Password. In the top right of the menu, press CLOSE to return to previous screen. UR3e PolyScope X User Manual...
  • Page 29 NOTICE 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. User Manual UR3e PolyScope X...
  • Page 30 Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for the robot arm. Defining safety planes does not guarantee that other parts of the robot arm will obey this type of restriction. Robot stop was previously known as "Protective stop" for Universal Robots. UR3e PolyScope X User Manual...
  • Page 31 Reduced When the safety system is in Reduced mode, a reduced mode plane is active and it acts as a strict limit on the position. • Both When the safety system is either in Normal or Reduced mode, a normal and reduced mode plane User Manual UR3e PolyScope X...
  • Page 32 Tool or Elbow is positioned beyond it. Elbow Joint Restriction You can prevent the robot elbow joint from passing through any of your defined planes. To restrict the elbow joint Disable Restrict Elbow for elbow to pass through planes. UR3e PolyScope X User Manual...
  • Page 33 4.2. Robot Arm Description The robot arm, depending upon weight, can be carried by one or two people unless the sling is provided. If the sling is provided, equipment for lifting and transport is required. User Manual UR3e PolyScope X...
  • Page 34 Plug in the mains, or main power cable, of the Control Box. WARNING Failure to secure the robot arm to a sturdy surface can lead to injury caused by the robot falling. • Ensure the robot arm is secured to a sturdy surface UR3e PolyScope X User Manual...
  • Page 35 Do not move the tool close to the cylindrical volume, even when the tool is moving slowly. Workspace The cylindrical volume is both directly above and directly below the robot base. The robot extends 500 mm from the base joint. Front Tilted User Manual UR3e PolyScope X...
  • Page 36 : Torque around the base z axis. • : Forces along base z axis. • : Tilting torque in any direction of the base xy plane. • : Force in any direction in the base xy plane. Force and moment at base flange definition. UR3e PolyScope X User Manual...
  • Page 37 The normal operating loads can generally be reduced by lowering the acceleration limits of the joints. Actual operating loads are dependent on the application and robot program. You can use URSim to evaluate the expected loads in your specific application. User Manual UR3e PolyScope X...
  • Page 38 The Teach Pendant is wall mounted or placed onto the Control Box. Teach Verify the cable does not cause tripping hazard. You can buy extra Pendant brackets for mounting the Control Box and Teach Pendant. UR3e PolyScope X User Manual...
  • Page 39 WARNING Singularity can cause injury to a person within reach of motion of the robot arm, end effector and workpiece. • Avoid programming motions that result in any poses that can cause a singularity. User Manual UR3e PolyScope X...
  • Page 40 Whether the robot arm is fixed (mounted to a stand, wall or floor) or in a movable installation (linear axis, push cart, or mobile robot base), it must be installed securely to ensure stability through all motions. UR3e PolyScope X User Manual...
  • Page 41 (Torque values have been updated SW 5.18. Earlier printed version will show different values) If accurate re-mounting of the robot is required, use the Ø5 mm. hole and Ø5x8 mm. slot with corresponding ISO 2338 Ø5 h6 positioning pins in the mounting plate. User Manual UR3e PolyScope X...
  • Page 42 5. Assembly UR3e PolyScope X User Manual...
  • Page 43 A wet Control Box can cause fatal injury. • Make sure the Control Box and cables do not come into contact with liquids. • Place the Control Box (IP44) in an environment suited for the IP rating. User Manual UR3e PolyScope X...
  • Page 44 Do not connect the Base Flange Cable directly to the Control Box. 5.7. Robot Connections: Robot Cable Description This subsection describes the connection for a robot arm configured with a fixed 6 meter Robot Cable. UR3e PolyScope X User Manual...
  • Page 45 Improper robot connection can result in loss of power to the robot arm. • Do not disconnect the Robot Cable when the robot arm is turned on. • Do not extend or modify the original Robot Cable. User Manual UR3e PolyScope X...
  • Page 46 A lockable (in the OFF position) switch A main switch shall be installed to power off all equipment in the robot application as an easy means for lockout. The electrical specifications are shown in the table below. UR3e PolyScope X User Manual...
  • Page 47 Ensure other equipment shall not supply power to the robot I/O when the robot is locked out. • Ensure all cables are connected correctly before the Control Box is powered. Always use the original power cord. User Manual UR3e PolyScope X...
  • Page 48 Those which are reserved will have the name of the safety function in place of the default or user defined name. Configurable outputs reserved for safety settings cannot be selected, they are displayed as LEDs only. UR3e PolyScope X User Manual...
  • Page 49 6. Application Tab Figure 1.2:   Communication screen displaying I/Os. User Manual UR3e PolyScope X...
  • Page 50 • Make sure all equipment not rated for water exposure remain dry. If water is allowed to enter the product, lockout-tagout all power and then contact your local Universal Robots service provider for assistance. • Only use the original cables supplied with the robot only. Do not use the robot for applications where the cables are subject to flexing.
  • Page 51 EMC problems are found to happen usually in welding processes and are normally prompted by error messages in the log. Universal Robots cannot be held responsible for any damages caused by EMC problems. •...
  • Page 52 CAUTION Failure to verify and test the safety functions regularly can lead to hazardous situations. • Safety functions shall be verified before putting the robot into operation. • Safety functions shall be tested regularly. UR3e PolyScope X User Manual...
  • Page 53 Safety Connecting Most applications require one or more extra emergency stop buttons. The illustration emergency stop below shows how one or more emergency stop buttons can be connected. buttons Safety Safety User Manual UR3e PolyScope X...
  • Page 54 In this example a safety mat is a safety device basic safeguard device where the where automatic resume is appropriate. This robot is stopped when the door is example is also valid for a safety laser scanner. opened. UR3e PolyScope X User Manual...
  • Page 55 7.2.1. Safety I/O Signals The I/O are divided between inputs and outputs and are paired up so that each function provides a Category 3 and PLd I/O. Figure 1.3:   PolyScope X screen displaying the Inpu signals. User Manual UR3e PolyScope X...
  • Page 56 Disabling the default Safeguard Reset input deactivates the Safeguard Stop when the input is high. As a result any program that was paused using the Safeguard Stop will resume. This renders the robot arm unsafe. • Do not disable default Safeguard Reset. UR3e PolyScope X User Manual...
  • Page 57 Signal is Low when the robot arm is placed in Reduced mode or if the safety input is configured with a Reduced Mode input and the signal is currently low. Otherwise the signal is high. User Manual UR3e PolyScope X...
  • Page 58 Configurable for safety Gray with black text General purpose digital I/O Green with black text General purpose analog I/O In the GUI, you can set up configurable I/O as either safety-related I/O or general purpose I/O. UR3e PolyScope X User Manual...
  • Page 59 Terminals Parameter Unit Internal 24V power supply Voltage [PWR - GND] Current [PWR - GND] External 24V input requirements Voltage [24V - 0V] [24V - 0V] Current *3.5A for 500ms or 33% duty cycle. User Manual UR3e PolyScope X...
  • Page 60 [COx / DOx] IEC 61131-2 Type Digital Inputs [EIx/SIx/CIx/DIx] Voltage OFF region [EIx/SIx/CIx/DIx] [EIx/SIx/CIx/DIx] ON region Current (11-30V) [EIx/SIx/CIx/DIx] [EIx/SIx/CIx/DIx] Function PNP + Type IEC 61131-2 Type [EIx/SIx/CIx/DIx] *For resistive loads or inductive loads of maximum 1H. UR3e PolyScope X User Manual...
  • Page 61 Plug in the active adapter before powering on the Control Box. • In some cases the external monitor must be powered on before the Control Box. • Use an active adapter that supports revision 1.2 as not all adapters function out-of-the-box. User Manual UR3e PolyScope X...
  • Page 62 Replace the cap at the base of the Control Box with an appropriate cable gland to connect the cable to the Ethernet port. The electrical specifications are shown in the table below. Parameter Unit Communication speed 1000 Mb/s UR3e PolyScope X User Manual...
  • Page 63 Using a UR20, or a UR30, requires an external enabling device or a 3PE Teach Pendant when programming, or teaching, within the reach of the robot application. See ISO 10218-2. Power button Overview of TP Emergency Stop button USB port (comes with a dust cover) 3PE buttons User Manual UR3e PolyScope X...
  • Page 64 7. Installation Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. UR3e PolyScope X User Manual...
  • Page 65 Teach Pendant port. Fully open/loosen the plastic grommet at the bottom of the control box and remove the Teach Pendant plug and cable. Gently remove the Teach Pendant cable and Teach Pendant. Clips Plastic grommet User Manual UR3e PolyScope X...
  • Page 66 There is always a length of cable with the Teach Pendant that can present a tripping hazard if it is not stored properly. • Always store the Teach Pendant and the cable properly to avoid tripping hazards. UR3e PolyScope X User Manual...
  • Page 67 7. Installation User Manual UR3e PolyScope X...
  • Page 68 7. Installation UR3e PolyScope X User Manual...
  • Page 69 The UR robot safety system does not support multiple external Three-Position Enabling Devices. Operational Using a Three-Position Enabling device requires the use of an Operational Mode Mode Switch switch. The illustration below shows an Operational Mode switch. Configurable Inputs Operational mode Switch User Manual UR3e PolyScope X...
  • Page 70 The end effector can also be referred to as the tool and the workpiece in this manual. NOTICE UR provides documentation for the end effector to be integrated with the robot arm. • Refer to the documentation specific to the end effector/tool/workpiece for mounting and connection. UR3e PolyScope X User Manual...
  • Page 71 Analog Output in current mode [AOx - AG] Current [AOx - AG] Voltage [AOx - AG] Resolution Analog Output in voltage mode [AOx - AG] Voltage [AOx - AG] Current [AOx - AG] Resistance [AOx - AG] Resolution User Manual UR3e PolyScope X...
  • Page 72 7. Installation Analog Output and Analog Input Analog Analog Power Power This example illustrates controlling This example illustrates connecting a conveyor belt with an analog an analog sensor. speed control input. UR3e PolyScope X User Manual...
  • Page 73 You can use the digital I/O to communicate with other equipment if a common GND with other (0V) is established and if the machine uses PNP technology, see below. machines or PLCs Digital Inputs Digital Outputs Digital Inputs Digital Outputs User Manual UR3e PolyScope X...
  • Page 74 Do not press and hold the ON input or the POWER button without saving. • Use the OFF input for remote off control to allow the Control Box to save open files and shut down correctly. UR3e PolyScope X User Manual...
  • Page 75 Failure to tighten bolts properly cause injury due to loss of the adapter flange and/or end effector. • Ensure the tool is properly and securely bolted in place. • Ensure the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly. User Manual UR3e PolyScope X...
  • Page 76 *** When tool power is enabled, a 400 ms soft start time begins allowing a capacitive load of 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the capacitive load is not allowed. UR3e PolyScope X User Manual...
  • Page 77 Connect the wires Power (gray) to TO0 (blue) and Ground (red) to TO1 (pink). NOTICE Once the robot makes an Emergency Stop, the voltage is set to 0V for both Power Pins (power is off). User Manual UR3e PolyScope X...
  • Page 78 The output voltage at the I/O tab must be define. There is voltage between the POWER connection and the shield/ground, even when the load is turned off. POWER It is recommended to use a protective diode for inductive loads, as shown below. POWER UR3e PolyScope X User Manual...
  • Page 79 Ω Resolution Input voltage in current mode -0.5 Input current in current mode -2.5 Input resistance @ range 4mA to 20mA Ω Resolution Two examples of using Analog Input are shown in the following subsections. User Manual UR3e PolyScope X...
  • Page 80 Once 1000 bytes of data have been received, the message is written on the device. Baud Rates 9.6k, 19.2k, 38.4k, 57.6k, 115.2k, 1M, 2M, 5M Stop Bits 1, 2 Parity None, Odd, Even UR3e PolyScope X User Manual...
  • Page 81 In the Payload field, in Active Payload, verify the payload mass. You can also verify the mounting position is correct, in the Robot graphic. Tap the UNLOCK button, for the robot to release its brake system. The robot vibrates and makes clicking sounds indicating it is ready to be programmed User Manual UR3e PolyScope X...
  • Page 82 9.1. General Cybersecurity Description Connecting a Universal Robots robot to a network can introduce cybersecurity risks. These risks can be mitigated by using qualified personnel and implementing specific measures for protecting the robot's cybersecurity. Implementing cybersecurity measures requires conducting a cybersecurity threat assessment.
  • Page 83 Disable SSH access when not needed. Prefer key-based authentication over password-based authentication • Set the robot firewall to the most restrictive usable settings and disable all unused interfaces and services, close ports and restrict IP addresses User Manual UR3e PolyScope X...
  • Page 84 Remove sensitive data from the robot before it is decommissioned. Pay particular attention to the URCaps and data in the program folder. • To ensure secure removal of highly sensitive data, securely wipe or destroy the SD card. UR3e PolyScope X User Manual...
  • Page 85 You should feel when the latching is disengaged, indicating the push-button is reset. Verify the situation and whether to reset the emergency stop. After resetting the emergency stop, restore power to the robot and resume operation. User Manual UR3e PolyScope X...
  • Page 86 Unnecessary moving of the robot arm can lead to property damage. • Do not move the joint more than 160 degrees, to ensure the robot can find its original physical position. • Do not move any joint more than necessary. UR3e PolyScope X User Manual...
  • Page 87 Disclaimer Universal Robots cannot be held responsible for any damage caused by transportation of the equipment. You can see the recommendations for transportation without packaging at: universal- robots.com/manuals...
  • Page 88 Teach Pendant stops the whole installation or only its connected robot. If there could be confusion, store the Teach Pendant such that the e-Stop button is not visible or usable. UR3e PolyScope X User Manual...
  • Page 89 Any maintenance work, inspection and calibration shall be conducted in compliance with all safety instructions in this manual and according to local requirements. Repair work shall be done by Universal Robots. Client designated, trained individuals can do repair work, provided they follow the Service Manual.
  • Page 90 Drying: Finally, the cleaned surface may be left to air dry or dried using towels. WARNING DO NOT USE BLEACH in any diluted cleaning solution. UR3e PolyScope X User Manual...
  • Page 91 • inhalation of vapors or ingestion of grease, get medical attention • After grease work • clean contaminated work surfaces. • dispose responsibly of any used rags or paper used for cleaning. • Contact with children and animals is prohibited. User Manual UR3e PolyScope X...
  • Page 92 Inspection action type Timeframe Monthly Biannually Annually Check flat rings ✘ Check robot cable ✘ Check robot cable connection ✘ Check Robot Arm mounting ✘ bolts * Check Tool mounting bolts * ✘ Round Sling ✘ UR3e PolyScope X User Manual...
  • Page 93 12. Maintenance and Repair Robot Arm NOTICE Inspection Plan Using compressed air to clean the robot arm can damage the robot arm components. • Never use compressed air to clean the robot arm. User Manual UR3e PolyScope X...
  • Page 94 3PE button in this position. Power button 3PE button 3. Pull/Push the robot to a horizontally elongated position and release. 4. Verify the robot arm can maintain the position without support and without activating Freedrive. UR3e PolyScope X User Manual...
  • Page 95 13. Disposal and Environment 13. Disposal and Environment Description Universal Robots robots must be disposed of in accordance with the applicable national laws, regulations and standards. this responsibility rests with the owner of the robot. UR robots are produced in compliance with restricted use of hazardous substances to protect the environment;...
  • Page 96 Wire bundles with copper wires, PCB's, various electronic components, plastic connectors, and minor mechanical components e.g. screws, nuts, spacers (steel, brass, and plastic) • A lithium battery is mounted to a PCB. See the Service Manual for how to remove. UR3e PolyScope X User Manual...
  • Page 97 A part of the risk assessment is to determine the safety configuration settings, as well as the need for additional emergency stops and/or other protective measures required for the specific robot application. User Manual UR3e PolyScope X...
  • Page 98 Stopping Distance Limit: Used to limit the stopping distance of the robot. If either of the above is used, there is no need for manually performed periodic stopping performance testing. The robot safety control does continuous monitoring. UR3e PolyScope X User Manual...
  • Page 99 Likelihood of occurrence • Possibility to avoid the hazardous situation Potential hazards Universal Robots identifies the potential significant hazards listed below for consideration by the integrator. Other significant hazards can be associated with a specific robot application. • Penetration of skin by sharp edges and sharp points on tool/end effector or tool/end effector connector.
  • Page 100 1 joint is at least 450 mm from the base of the robot. The other area (right) is within 200 mm of the base of the robot, when moving tangentially. 14.2. Stopping Time and Stopping Distance UR3e PolyScope X User Manual...
  • Page 101 The Y-axis is the distance from where the stop is initiated to the final position. The payload CoG is at the tool flange. Joint 0 (BASE) Stopping distance in meters for 33% of 3kg Stopping distance in meters for 66% of 3kg User Manual UR3e PolyScope X...
  • Page 102 3kg Joint 0 (BASE) Stopping time in seconds for 33% of 3kg Stopping time in seconds for 66% of 3kg Stopping time in seconds for maximum payload of 3kg UR3e PolyScope X User Manual...
  • Page 103 Stopping distance in meters for 33% of 3kg Stopping distance in meters for 66% of 3kg Stopping distance in meters for maximum payload of 3kg Joint 1 (SHOULDER) Stopping time in seconds for 33% of 3kg User Manual UR3e PolyScope X...
  • Page 104 Stopping time in seconds for 66% of 3kg Stopping time in seconds for maximum payload of 3kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 3kg Stopping distance in meters for 66% of 3kg UR3e PolyScope X User Manual...
  • Page 105 3kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 3kg Stopping time in seconds for 66% of 3kg Stopping time in seconds for maximum payload of 3kg User Manual UR3e PolyScope X...
  • Page 106  e-Series  6=UR16e  sequential numbering, restarting at 0 each year Universal Robots e-Series (UR3e, UR5e, UR10e and UR16e) shall only be put into service upon being integrated into a final complete machine Incorporation: (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 107 The manufacturer, or his authorised representative, shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities. Approval of full quality assurance system (ISO 9001), by the notified body Bureau Veritas, certificate #DK015892. User Manual UR3e PolyScope X...
  • Page 108  sequential numbering, restarting at 0 each year Incorporation: Universal Robots e-Series (UR3e, UR5e, UR10e and UR16e) shall only be put into service upon being integrated into a final complete machine (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 109 The manufacturer, or his authorised representative, shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities.Approval of full quality assurance system (ISO 9001), by the notified body Bureau Veritas, certificate #DK015892. User Manual UR3e PolyScope X...
  • Page 110 Description Third party certification is voluntary. However, to provide the best service to robot integrators, Universal Robots chooses to certify its robots at the recognized test institutes listed below. You can find copies of all certificates in the chapter: Certificates.
  • Page 111 EU declarations. European directives are available on the directives official homepage: http://eur-lex.europa.eu. According to the Machinery Directive, Universal Robots’ robots are partly completed machines, as such a CE mark is not to be affixed. You can find the Declaration of Incorporation (DOI) according to the Machinery Directive in the chapter: Declarations and Certificates.
  • Page 112 18. Certificates 18. Certificates TÜV Rheinland UR3e PolyScope X User Manual...
  • Page 113 18. Certificates TÜV Rheinland North America User Manual UR3e PolyScope X...
  • Page 114 (Cd) biphenyls (PBB) (Cr+6) (PBDE) UR Robots 机器人：基本系统 UR3 / UR5 / UR10 /  UR3e / UR5e /  UR10e   UR16e /  UR20 / UR30 O: Indicates that this toxic or hazardous substance contained in all of the homogeneous materials for this part is below the limit  requirement in SJ/T11363‐2006. O: 表示该有毒有害物质在该部件所有均质材料中的含量均在SJ/T 11363‐2006规定的限量要求以下。  X: Indicates that this toxic or hazardous substance contained in at least one of the homogeneous materials used for this part is above  the limit requirement in SJ/T11363‐2006.  X: 表示该有毒有害物质至少在该部件的某一均质材料中的含量超出SJ/T 11363‐2006规定的限量要求。 （企业可在此处，根据实际情况对上表中打“X”的技术原因进行进一步说明。） Items below are wear‐out items and therefore can have useful lives less than environmental use period:     下列项目是损耗品,因而它们的有用环境寿命可能短于基本系统和可选项目的使用时间: Drives, Gaskets, Probes, Filters, Pins, Cables, Stiffener, Interfaces 电子驱动器,  垫圈, 探针, 过滤器, 别针, 缆绳, 加强筋, 接口 Refer to product manual for detailed conditions of use.  详细使用情况请阅读产品手册. Universal Robots encourages that all Electronic Information Products be recycled but does not assume responsibility or liability.  Universal Robots 鼓励回收再循环利用所有的电子信息产品, 但 Universal Robots 不负任何责任或义务 To the maximum extent permitted by law, Customer shall be solely responsible for complying with, and shall otherwise assume all liabilities that  may be imposed in connection with, any legal requirements adopted by any governmental authority related to the Management Methods for  Controlling Pollution by Electronic Information Products (Ministry of Information Industry Order #39) of the Peoples Republic of China otherwise  encouraging the recycle and use of electronic information products.  Customer shall defend, indemnify and hold Universal Robots harmless from  any damage, claim or liability relating thereto.  At the time Customer desires to dispose of the Products, Customer shall refer to and comply with  the specific waste management instructions and options set forth  at www.universal‐robots.com/about‐universal‐robots/social‐responsibility and  www.teradyne.com/company/corporate‐social‐responsibility, as the same may be amended by Teradyne or Universal Robots.   UR3e PolyScope X User Manual...
  • Page 115 18. Certificates KC Safety User Manual UR3e PolyScope X...
  • Page 116 18. Certificates KC Registration UR3e PolyScope X User Manual...
  • Page 117 Andreas Wendelboe Højsgaard M.Sc.Eng. DELTA – a part of FORCE Technology - Venlighedsvej 4 - 2970 Hørsholm - Denmark - Tel. +45 72 19 40 00 - Fax +45 72 19 40 01 - www.delta.dk User Manual UR3e PolyScope X...
  • Page 118 Software Name: PolyScope X Software Version: 10.7 Document Version:...
  • Page 119 19-20 Configurable I/O 59 Control Box 12, 38, 46, 58, 74 Conveyor Tracking 58 Elbow 101 Ethernet 62 EtherNet/IP 62 General purpose I/O 59 I/O 59 Mini Displayport 61 MODBUS 62 Mounting bracket 12 User Manual UR3e PolyScope X...
  • Page 120 Safeguard Reset 56 Safety Configuration 98 Safety I/O 52, 59 Safety instructions 89 Safety planes 30 Safety Settings 27 Script manual 15 Service manual 15 Shoulder 101 System Emergency stop 56 System Emergency Stop 57 UR3e PolyScope X User Manual...
  • Page 121 19. Index Teach Pendant 12, 38, 74 Tool Center Point 30 UR Forum 15 UR+ 14 UR+ Partner Program 14 User Manual UR3e PolyScope X...