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Universal Robots PolyScope X UR16e User Manual
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Universal Robots PolyScope X UR16e User Manual

Universal Robots PolyScope X UR16e User Manual

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UR16e PolyScope X
Original instructions (en)
PolyScope X

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Summary of Contents for Universal Robots PolyScope X UR16e

  • Page 1 User Manual UR16e PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR16e PolyScope X User Manual...
  • Page 3 The information contained herein is the property of Universal Robots A/S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A/S. The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A/S. This document is periodically reviewed and revised.
  • Page 4 UR16e PolyScope X User Manual...
  • Page 5 Contents 1. Preface Part I Hardware Installation Manual 1.1. Safety 1.1.1. Validity and Responsibility 1.1.2. Limitation of Liability 1.1.3. Safety Message Types 1.1.4. General Warnings and Cautions 1.1.5. Intended Use 1.1.6. Risk Assessment 1.1.7. Pre-Use Assessment 1.1.8. Emergency Stop 1.1.9. Movement Without Drive Power 1.1.10.
  • Page 6 1.4. Transportation 1.4.1. Transport Without Packaging 1.5. Maintenance and Repair 1.6. Robot Arm Cleaning and Inspection 1.7. Disposal and Environment 1.8. Certifications 1.9. Stopping Time and Stopping Distance 1.10. Declarations and Certificates (original EN) 1.11. Warranty Information 1.12. Certificates 1.13. Applied Standards 1.14.
  • Page 7 7.4. Safety Menu Settings 7.4.1. Robot Limits 7.4.2. Safety I/O Signals 7.4.3. Safety Planes To restrict the elbow joint 8. Operational Mode 9. Application Tab 9.1. Communication 10. Glossary 10.1. Index User Manual UR16e PolyScope X...
  • Page 8 1. Preface 1. Preface 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 9 1. Preface Important Safety The robot is partly completed machinery (see  Declarations Notice according to EU directives on page 82) and as such a risk assessment is required for each installation of the robot. You must follow all of the safety instructions in chapter 1.1 Safety on page 13.
  • Page 10 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 11 1. Preface UR forums The UR Forum forum.universal-robots.com allows robot enthusiasts of all skill levels to connect to UR and each other, to ask questions and to exchange information. While the UR Forum was created by UR+ and our admins are UR employees, the majority of the content is created by you, the UR Forum user.
  • Page 12 1. Preface UR16e PolyScope X User Manual...
  • Page 13 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 14 Part I Hardware Installation Manual 1.1.1. Validity and Responsibility Description The information in this manual does not cover designing, installing, integrating and operating a robot application, nor does it cover all peripheral equipment that can influence the safety of the robot application. The robot application must be designed and installed in accordance with the safety requirements set forth in the relevant standards and regulations of the country where the robot is installed.
  • Page 15 Part I Hardware Installation Manual 1.1.3. Safety Message Types Description Safety messages are used to emphasize important information. Read all the messages to help ensure safety and to prevent injury to personnel and product damage. The safety message types are defined below. WARNING Indicates a hazardous situation that, if not avoided, can result in death or serious injury.
  • Page 16 Part I Hardware Installation Manual 1.1.4. General Warnings and Cautions Description The following warnings messages can be repeated, explained or detailed in subsequent sections. WARNING Failure to adhere to the general safety practices, listed below, can result in injury or death. •...
  • Page 17 Part I Hardware Installation Manual WARNING: HOT SURFACE Prolonged contact with the heat generated by the robot arm and the Control Box, during operation, can lead to discomfort resulting in injury. • Do not handle or touch the robot while in operation or immediately after operation.
  • Page 18 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 19 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 20 Part I Hardware Installation Manual WARNING Failure to consider the added risks due to the reach, payloads, operating torques and speeds associated with robot application, can result in injury or death. • 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.
  • Page 21 Part I Hardware Installation Manual 1.1.6. Risk Assessment Description The risk assessment is a requirement that shall be performed for the application. The application risk assessment is the responsibility of the integrator. The user can also be the integrator. The robot is partly completed machinery, as such the safety of the robot application depends on the tool/end effector, obstacles and other machines.
  • Page 22 Part I Hardware Installation Manual Safety Identifying the correct safety configuration settings is a particularly important part of configuration developing robot applications. Unauthorized access to the safety configuration must settings be prevented by enabling and setting password protection. WARNING Failure to set password protection can result in injury or death due to purposeful or inadvertent changes to configuration settings.
  • Page 23 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 24 Part I Hardware Installation Manual 1.1.7. Pre-Use Assessment Descri The following tests must be conducted before using the robot application for the first time or after ption making any modifications. • Verify all safety inputs and outputs are correctly connected. •...
  • Page 25 Part I Hardware Installation Manual 1.1.8. Emergency Stop Description The Emergency Stop or E-stop is the red push-button located on the Teach Pendant. Press the emergency stop push-button to stop all robot motion. Activating the emergency stop push-button causes a stop category one (IEC 60204-1). Emergency stops are not safeguards (ISO 12100).
  • Page 26 Part I Hardware Installation Manual 1.1.9. Movement Without Drive Power Description In the unlikely event of an emergency, when powering the robot is either impossible or unwanted, you can use forced back-driving to move the robot arm. To perform forced back-driving you must push, or pull, the robot arm hard to move the joint.
  • Page 27 1.1.10. Safety-related Functions and Interfaces Description Universal Robots robots are equipped with a range of built-in safety functions as well as safety I/O, digital and analog control signals to or from the electrical interface, to connect to other machines and additional protective devices. Each safety function and I/O is constructed according to EN ISO13849-1 with Performance Level d (PLd) using a category 3 architecture.
  • Page 28 *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 29 Configurable Safety Functions Description Universal Robots robot safety functions, as listed in the table below, are in the robot but are meant to control the robot system i.e. the robot with its attached tool/end effector. The robot safety functions are used to reduce robot system risks determined by the risk assessment.
  • Page 30 Part I Hardware Installation Manual Safety Function Accuracy Performance Level Category Emergency Stop – Safeguard Stop – Joint Position Limit 5 ° Joint Speed Limit 1.15 °/s Safety Planes 40 mm Tool Orientation 3 ° Speed Limit 50 mm/s Force Limit 25 N Momentum Limit 3 kg m/s Power Limit 10 W Stopping Time Limit...
  • Page 31 Part I Hardware Installation Manual 2.1:   Due to the physical properties of the robot arm, certain workspace areas require attention regarding pinching hazards. One area (left) is defined for radial motions when the wrist 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.
  • Page 32 Part I Hardware Installation Manual Safety inputs The robot also has the following safety inputs: Safety Input Description Performs a Stop Category 1 (IEC 60204-1) informing other machines Emergency using the System Emergency Stop output, if that output is defined. A Stop Button stop is initiated in anything connected to the output.
  • Page 33 Part I Hardware Installation Manual Safety outputs For interfacing with other machines, the robot is equipped with the following safety outputs: Safety Description Output System While this signal is logic low, the Robot Emergency Stop input is logic Emergency low or the Emergency Stop button is pressed. Stop Robot While this signal is logic high, no single joint of the robot moves more...
  • Page 34 Part I Hardware Installation Manual Safety Parameter Set Description The safety system has the following set of configurable safety parameters: • Normal • Reduced Normal and You can set up the safety limits for each set of safety parameters, creating distinct Reduced configurations for normal, or higher settings, and reduced.
  • Page 35 Part I Hardware Installation Manual Recovery When a safety limit is exceeded, the safety system must be restarted. For example, if a joint position limit is outside a safety limit, at start-up, Recovery is activated. You cannot run programs for the robot when recovery is activated, but the robot arm can be manually moved back within limits using Freedrive, or by using the Move tab in PolyScope.
  • Page 36 Part I Hardware Installation Manual Modes Description When a safety limit is exceeded, Recovery Mode is automatically activated, allowing the robot arm to be moved. Recovery Mode is a type of Manual Mode . You cannot run robot programs when Recovery Mode is active. During Recovery Mode, the robot arm is moved to be within joint limits, using either Freedrive or the Move tab in PolyScope.
  • Page 37 Part I Hardware Installation Manual Description The workspace is the range of the fully extended robot arm, horizontally and vertically. The operating space is the location where the robot is expected to function. NOTICE Disregard for the robot workspace and operating space can result in the damage to property.
  • Page 38 Part I Hardware Installation Manual Description Mounted with four 8.8 strength, Robot arm 8.5 mm bolts and (Base) four M8 mounting holes at the base. Uses four M6 thread holes for attaching a tool to the robot. The M6 bolts shall be tightened with Tool (Tool 8 Nm, strength...
  • Page 39 Part I Hardware Installation Manual WARNING Unstable mounting can lead to accidents. • Always make sure the robot parts are properly and securely mounted and bolted in place. User Manual UR16e PolyScope X...
  • Page 40 Ra 1,6 Anodized nature 10-20µ DWG NO. Status change date: REV. ROBOTS. ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF UNIVERSAL ROBOTS IS PROHIBITED TOLERANCE WEIGHT 452.13 g +/- 0,1 mm +/- 0,5° 31473 Replace drawing:...
  • Page 41 Part I Hardware Installation Manual Dimensioning the The structure (stand) on which the robot arm is mounted is a crucial part of the robot stand installation. The stand must be sturdy and free of any vibrations from external sources. Each robot joint produces a torque that moves and stops the robot arm. During normal uninterrupted operation and during stopping motion, the joint torques are transferred to the robot stand as: •...
  • Page 42 Part I Hardware Installation Manual Dimensionin The magnitude of the loads depends on robot model, program and multiple other factors. Dimensioning of the stand shall account for the loads that the robot arm generates during g the Stand normal uninterrupted operation and during category 0, 1 and 2 stopping motion. During stopping motion, the joints are allowed to exceed the maximum nominal operating torque.
  • Page 43 Part I Hardware Installation Manual Dimensioning the Users have the option to incorporate added safety margins, factoring in the following Stand design considerations: • Static stiffness: A stand that is not sufficiently stiff will deflect during robot motion, resulting in the robot arm not hitting the intended waypoint or path. Lack of static stiffness can also result in a poor freedrive teaching experience or protective stops.
  • Page 44 Part I Hardware Installation Manual 1.2.4. Securing Tool Description The tool or workpiece is mounted to the tool output flange (ISO 9409-1) at the tip of the robot. All measurements are in millimeters. 2.2:   Dimensions and hole pattern of the tool. All measurements are in millimeters.
  • Page 45 Part I Hardware Installation Manual Description The flow of hot air in the Control Box can result in equipment malfunction. The Control Box requires a minimum clearance of 50 mm on each side for sufficient cool airflow. The recommended Control Box clearance is 200 mm. WARNING A wet Control Box can cause fatal injury.
  • Page 46 Part I Hardware Installation Manual 1.2.6. Maximum Payload Description The rated payload of the Robot Arm depends on the center of gravity offset of the payload, see Figure 1.2 Mechanical Interface on page 36 The center of gravity offset is defined as the distance from the center of the tool flange to the center of gravity of the attached payload.
  • Page 47 Part I Hardware Installation Manual Description The robot arm and the Control Box contain electrical interface groups. Examples are given for most types of I/O. The term I/O refers to both digital and analog control signals to or from the electrical interface groups listed below.
  • Page 48 • 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 49 Part I Hardware Installation Manual 1.3.2. Controller I/O Description You can use the I/O inside the Control Box for a wide range of equipment including pneumatic relays, PLCs and emergency stop buttons. The illustration below shows the layout of electrical interface groups inside the Control Box.
  • Page 50 Part I Hardware Installation Manual Common This section defines electrical specifications for the following 24V digital I/O of the specifications for Control Box. all digital I/O • Safety I/O. • Configurable I/O. • General purpose I/O. NOTICE The word configurable is used for I/O configured as either safety- related I/O or normal I/O.
  • Page 51 Part I Hardware Installation Manual Digital I/Os The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are shown below. Terminals Parameter Unit Digital Outputs [COx / DOx] Current* [COx / DOx] Voltage drop [COx / DOx] Leakage current [COx / DOx] Function...
  • Page 52 Part I Hardware Installation Manual Table The functional difference is shown below. Emergency Safeguard 3PE Stop Stop Stop Robot stops moving Program execution Pauses Pauses Pauses Drive power Automatic or Automatic or Reset Manual manual manual Every cycle to Every cycle to Frequency of use Infrequent infrequent...
  • Page 53 Part I Hardware Installation Manual OSSD Safety You can configure the Control Box to output OSSD pulses when a safety output is Signals inactive/high. OSSD pulses detect the ability of the Control Box to make safety outputs active/low. When OSSD pulses are enabled for an output, a 1ms low pulse is generated on the safety output once every 32ms.
  • Page 54 Part I Hardware Installation Manual Sharing the You can set up a shared emergency stop function between the robot and other Emergency Stop machines by configuring the following I/O functions via the GUI. The Robot Emergency with other Stop Input cannot be used for sharing purposes. If more than two UR robots or other machines machines need to be connected, a safety PLC must be used to control the emergency stop signals.
  • Page 55 Part I Hardware Installation Manual Safeguard Stop If the safeguard interface is used to interact with a light curtain, a reset outside the with reset button safety perimeter is required. The reset button must be a two channel type. In this example the I/O configured for reset is CI0-CI1.
  • Page 56 Part I Hardware Installation Manual 1.3.4. Three Position Enabling Device Description The robot arm is equipped with an enabling device in the form of the 3PE Teach Pendant. The Control Box supports the following enabling device configurations: • 3PE Teach Pendant •...
  • Page 57 Part I Hardware Installation Manual 1.3.5. General Purpose Digital I/O Description The Startup screen contains settings for automatically loading and starting a default program, and for auto-initializing the Robot arm during power up. General purpose This section describes the general purpose 24V I/O (Gray terminals) and the digital I/O configurable I/O (Yellow terminals with black text) when not configured as safety I/O.
  • Page 58 Part I Hardware Installation Manual 1.3.6. General Purpose Analog I/O Description The analog I/O interface is the green terminal. It is used to set or measure voltage (0- 10V) or current (4-20mA) to and from other equipment. The following directions is recommended to achieve the highest accuracy. •...
  • Page 59 Part I Hardware Installation Manual 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. 1.3.7. Remote ON/OFF Control Description Use remote ON/OFF control to turn the Control Box on and off without using the Teach Pendant.
  • Page 60 Part I Hardware Installation Manual Remote Remote This example illustrates connecting a This example illustrates connecting a remote ON button. remote OFF button. CAUTION Maintaining a press and hold on the power button switches the Control Box OFF without saving. •...
  • Page 61 Part I Hardware Installation Manual 1.3.8. Control Box Connection Ports Description The underside of the I/O interface groups is equipped with external connection ports, as illustrated below. There are capped openings at the base of the Control Box cabinet to run external connector cables to access the ports. External The Mini Displayport supports monitors using Displayport.
  • Page 62 Part I Hardware Installation Manual Description The Ethernet interface can be used for: • MODBUS, EtherNet/IP and PROFINET. • Remote access and control. To connect the Ethernet cable by passing it through the hole at the base of the Control Box, and plugging it into the Ethernet port on the underside of the bracket.
  • Page 63 Part I Hardware Installation Manual Mains To power the robot, the Control Box shall be connected to the mains via the supplied connections power cord. The IEC C13 connecter on the power cord connects to the IEC C14 appliance inlet at the bottom of the Control Box. NOTICE Always use a power cord with a country specific wall plug when connecting to the Control Box.
  • Page 64 Part I Hardware Installation Manual WARNING: ELECTRICITY Failure to follow any of the below can result in serious injury or death due to electrical hazards. • Ensure the robot is grounded correctly (electrical connection to ground). Use the unused bolts associated with grounding symbols inside the Control Box to create common grounding of all equipment in the system.
  • Page 65 Part I Hardware Installation Manual To connect the You can turn the connector to the right to make it easier to lock after the cable is arm and Control plugged in. • Establish the robot connection by connecting the robot arm to the Control Box with the Robot Cable.
  • Page 66 Part I Hardware Installation Manual 1.3.12. Robot Connections: Base Flange Cable Description This subsection describes the connection for a robot arm configured with a Base Flange Cable connector. Base Flange The Base Flange Cable connector establishes the robot connection by connecting the Cable connector robot arm to the Control Box.
  • Page 67 Part I Hardware Installation Manual 1.3.13. Tool I/O Description Adjacent to the tool flange on Wrist #3, there is an eight-pinned connector that provides power and control signals for different grippers and sensors that can be attached to the robot. The Lumberg RKMV 8-354 is a suitable industrial cable.
  • Page 68 Part I Hardware Installation Manual Access Tool I/O in the Installation Tab (see part Part II PolyScope Manual) to set the internal power supply to 0V, 12V or 24V. The electrical specifications are shown below: Parameter Unit Supply voltage in 24V 23.5 24.8 mode...
  • Page 69 Part I Hardware Installation Manual 1.3.14. Tool Power Supply Description Access Tool I/O in the Installation Tab Dual Pin Power In Dual Pin Power mode, the output current can be increased as listed in Tool I/O. Supply In the Header, tap Installation. In the list on the left, tap General.
  • Page 70 Part I Hardware Installation Manual 1.3.15. Tool Digital Outputs Description Digital Outputs support three different modes: Mode Active Inactive Sinking (NPN) Open Sourcing (PNP) High Open Push / Pull High Access Tool I/O in the Installation Tab to configure the output mode of each pin. The electrical specifications are shown below: Parameter Unit...
  • Page 71 Part I Hardware Installation Manual 1.3.16. Tool Digital Inputs Description The Startup screen contains settings for automatically loading and starting a default program, and for auto-initializing the Robot arm during power up. Table The Digital Inputs are implemented as PNP with weak pull-down resistors. This means that a floating input always reads as low.
  • Page 72 Part I Hardware Installation Manual Caution CAUTION Analog Inputs are not protected against over voltage in current mode. Exceeding the limit in the electrical specification can cause permanent damage to the input. Using Tool This example shows an analog sensor connection with a non-differential output. The Analog Inputs, sensor output can be either current or voltage, as long as the input mode of that Analog Non-differential...
  • Page 73 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 74 Part I Hardware Installation Manual 1.4.1. Transport Without Packaging Description Universal Robots always recommends transporting the robot in its original packaging. These recommendations are written to reduce unwanted vibrations in joints and brake systems and reduce joint rotation. If the robot is transported without its original packaging, then please refer to the following guidelines: •...
  • Page 75 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 76 Part I Hardware Installation Manual 1.6. Robot Arm Cleaning and Inspection Description As part of regular maintenance the robot arm can be cleaned, in accordance with the recommendations in this manual and local requirements. Cleaning To address the dust, dirt, or oil on the robot arm and/or Teach Pendant, simply use a Methods cloth alongside one of the cleaning agents provided below.
  • Page 77 Part I Hardware Installation Manual WARNING Grease is an irritant and can cause an allergic reaction. Contact, inhalation or ingestion can cause illness or injury. To prevent illness or injury, adhere to the following:  • PREPARATION: • Ensure that the area is well ventilated. •...
  • Page 78 Part I Hardware Installation Manual Inspection points 1. Move the robot arm to the Zero position, if possible. 2. Turn off the robot and disconnect the power cable from the Control Box. 3. Inspect the cable between the Control Box and robot arm for any damage.
  • Page 79 Freedrive. 1.7. 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 80 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 81 Universal Robots e-Series robots are Delta performance tested by DELTA. Supplier Third As provided by our suppliers, Universal Robots e- Party Series robots shipping pallets comply with the Certification Environment ISMPM-15 Danish requirements for producing wood packaging material and are marked in accordance with this scheme.
  • Page 82 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 83 Part I Hardware Installation Manual Stopping distance in meters for 66% of 16kg Stopping distance in meters for maximum payload of 16kg Joint 0 (BASE) Stopping time in seconds for 33% of 16kg Stopping time in seconds for 66% of 16kg User Manual UR16e PolyScope X...
  • Page 84 Part I Hardware Installation Manual Stopping time in seconds for maximum payload of 16kg Joint 1 (SHOULDER) Stopping distance in meters for 33% of 16kg Stopping distance in meters for 66% of 16kg Stopping distance in meters for maximum payload of 16kg UR16e PolyScope X User Manual...
  • Page 85 Part I Hardware Installation Manual Joint 1 (SHOULDER) Stopping time in seconds for 33% of 16kg Stopping time in seconds for 66% of 16kg Stopping time in seconds for maximum payload of 16kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 16kg User Manual UR16e PolyScope X...
  • Page 86 Part I Hardware Installation Manual Stopping distance in meters for 66% of 16kg Stopping distance in meters for maximum payload of 16kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 16kg Stopping time in seconds for 66% of 16kg UR16e PolyScope X User Manual...
  • Page 87  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 88 Part I Hardware Installation Manual EU Declaration of Incorporation (DOI) (in accordance with 2006/42/EC Annex II B) original EN  The following essential requirements have been fulfilled: I. Machinery Directive 1.1.2, 1.1.3, 1.1.5, 1.2.1, 1.2.4.3, 1.2.5, 1.2.6, 1.3.2, 1.3.4, 1.3.8.1, 1.3.9, 1.5.1, 1.5.2, 2006/42/EC 1.5.5, 1.5.6, 1.5.10, 1.6.3, 1.7.2, 1.7.4, 4.1.2.3, 4.1.3 Annex VI.
  • Page 89 Part I Hardware Installation Manual TÜV Rheinland User Manual UR16e PolyScope X...
  • Page 90 Part I Hardware Installation Manual TÜV Rheinland North America Management Methods for Controlling Pollution Product Declaration Table For Toxic or Hazardous Substances  by Electronic Information Products  表1 有毒有害物质或元素名称及含量标识格式 China RoHS Product/Part  产品/部件名称 Name  Toxic and Hazardous Substances and Elements  有毒有害物质或元素 铅      汞  Mercury  Cadmium  镉  六价  Hexavalent  Polybrominated   多溴联苯   多溴二苯醚  Polybrominated  UR Robots Lead (Pb) (Hg) (Cd) Chromium  (Cr+6) biphenyls (PBB) diphenyl ethers  (PBDE) 机器人：基本系统...
  • Page 91 Part I Hardware Installation Manual KC Safety User Manual UR16e PolyScope X...
  • Page 92 Part I Hardware Installation Manual KC Registration UR16e PolyScope X User Manual...
  • Page 93 Part I Hardware Installation Manual Attestation of Conformity no. 119-29301-A1 Assessment holder Universal Robots A/S Environment Energivej 25 5260 Odense S Denmark Product identification UR16e Robot Arm Controller CB, 3.2 UR10/5 G5 FORCE Technology test reports Environmental tests of UR16e, project no.: 119-24069, report no.: 119-24069-1 dated 29 April 2019...
  • Page 94 Part I Hardware Installation Manual Description This section describes relevant standards applied to the development and manufacturing of the UR robot, including the robot arm, Control Box and Teach Pendant . A standard is not a law, but a document developed by stakeholders within a given industry.
  • Page 95 Part I Hardware Installation Manual ISO 13849-1 Clause Description ISO 13849-2 Safety of The safety machinery – control system is Safety designed related parts according to the of control requirements of systems these standards. Part 1: The Safety General Functions are principles certified to these for design...
  • Page 96 Part I Hardware Installation Manual ANSI/RIA Clause Description R15.06 This American national standard is a national adoption without deviation of both ISO 10218-1 and ISO 10218- 2, combined into one document. The language is changed from Industrial British Robots and International Robot Systems English to...
  • Page 97 Part I Hardware Installation Manual CAN/CSA-Z434 Clause Description This Canadian national standard is a national adoption of both ISO 10218-1 and ISO 10218-2 combined into Industrial one document. Robots and CSA added Robot Systems User to clauses – General Safety within Part 2.
  • Page 98 Part I Hardware Installation Manual Clause Description 61000-6-2 Electromagnetic These standards IEC 61000-6-4 compatibility define requirements (EMC) Part 6-2: for the electrical and Generic electromagnetic standards - disturbances. Immunity for Conforming to industrial these standards environments Part ensures that the UR 6-4: Generic robots perform well standards -...
  • Page 99 Part I Hardware Installation Manual IEC 14118 Clause Description Safety requirements to Safety of prevent an machinery – unexpected start Prevention of and re-start, as a unexpected result of power startup loss or interruption of power. IEC 60204-1 Clause Description emergency stop function is designed as a...
  • Page 100 Part I Hardware Installation Manual IEC 60529 Clause Description This standard defines Degrees of enclosure protection ratings provided by regarding enclosures protection (IP Code) against dust and water. IEC 60320-1 Clause Description Appliance couplers for The mains household and input cable similar general complies purposes Part 1:...
  • Page 101 Part I Hardware Installation Manual ISO 13732-1 Clause Description Ergonomics of the thermal environment – Methods for the assessment of human responses to contact with surfaces Part 1: Hot surfaces IEC 61140 Clause Description Protection A protective against earth/ground electric connection is shock –...
  • Page 102 Part I Hardware Installation Manual IEC 61784-3 Clause Description Safety of machinery – Electrical equipment of machines Part 1: General requirements IEC 60664-1 Clause Description IEC 60664-5 Insulation coordination for equipment within low-voltage systems Part 1: Principles, requirements and tests Part 5: Comprehensive method for determining...
  • Page 103 Part I Hardware Installation Manual 1.14. Technical Specifications UR16e Robot type UR16e Robot weight 33.1 kg / 72.9 lb Maximum payload 16 kg / 35.2 lb Reach 900 mm / 35.4 in Unlimited rotation of tool flange, ± 360 ° for all other joints Joint ranges ± 360 ° for all joints Base and Shoulder joints: Max 120 °/s.
  • Page 104 Part I Hardware Installation Manual 1.15. Safety Functions Table 1 Description Universal Robots safety functions and safety I/O are PLd Category 3 (ISO 13849-1), where each safety function has a PFH value less than 1.8E-07. The PFH values are updated to include greater design flexibility for supply chain resilience.
  • Page 105 Part I Hardware Installation Manual SF2 Safeguard What Tolerance Description Affects Stop 4 (Robot happens? and PFH Stop according to This safety function is initiated by an ISO 10218-1) external protective device using safety inputs that initiate a Cat 2 stop .
  • Page 106 Part I Hardware Installation Manual Joint Torque Exceeding the internal joint torque limit (each joint) results in a Cat 0 . This is not Limit accessible to the user; it is a factory setting. It is NOT shown as an e-Series safety function because there are no user settings and no user configurations.
  • Page 107 Part I Hardware Installation Manual SF7 Force Limit (TCP) What Tolerance Description Affects happens? and PFH Will not allow motion to The Force Limit is the force exerted exceed any by the robot at the TCP (tool center limit settings. point) and “elbow”.
  • Page 108 Part I Hardware Installation Manual SF10 UR Robot What Description Affects Estop Output Happens When configured for a Robot <Estop> output and there is a robot stop, the dual outputs are LOW. If there is no Robot <Estop> Stop initiated, dual outputs are high.
  • Page 109 Part I Hardware Installation Manual SF12 UR Robot Description Affects Not stopping: When the robot is STOPPING (in process of stopping or in a Digital Output stand-still condition) the dual digital outputs are HIGH. External When outputs are LOW, robot is NOT in the process or connection stopping and NOT in a stand-still condition.
  • Page 110 Part I Hardware Installation Manual SF15 Stopping What Tolerances Description Affects Time Limit happens? and PFH Real time monitoring of conditions such that the stopping time limit will not be exceeded. Robot speed is limited to ensure that the stop time limit is not Will not allow exceeded.
  • Page 111 Part I Hardware Installation Manual SF17 Safe Home Tolerances Description What happens? Affects Position and PFH "monitored Safety function which monitors a position" safety rated output, such that it ensures that the output can only The “safe home External output” can only be activated when the robot is in connection TOL: 1.7 °...
  • Page 112 Part I Hardware Installation Manual 1.15.1. Table 1a Reduced Mode Description Affects SF parameter Reduced Mode can be initiated by a safety plane/ boundary settings change (starts at 2cm of the plane and reduced mode settings are achieved within 2cm of the plane) or by use of an input to initiate (will achieve reduced settings within 500ms).
  • Page 113 Part I Hardware Installation Manual Mode switch INPUT Description Affects When the external connections are Low, Operation Mode (running/ automatic operation in automatic mode) is in effect. When High, mode is programming/ teach. Recommendation: Less Use with an enabling device, for example a UR e-Series than Teach Pendant with an integrated 3-position enabling device.
  • Page 114 Part I Hardware Installation Manual Collaborative Technique Explanation UR e-Series Operation 2011 This is essentially individual edition, clause and direct personal control 5.10.3 while the robot is in automatic mode. Hand guiding equipment shall be located close to the end- UR robots do not provide hand- effector and shall have: guiding for collaborative operation.
  • Page 115 Part I Hardware Installation Manual Collaborative Technique Explanation UR e-Series Operation 2011 SSM is the robot edition, clause maintaining a separation 5.10.4 distance from any operator (human). This is done by monitoring of the distance between the robot system and intrusions to ensure that the MINIMUM PROTECTIVE...
  • Page 116 Part I Hardware Installation Manual Collaborative Technique Explanation UR e-Series Operation 2011 UR robots are power and force edition, clause How to accomplish PFL is left to the limiting robots specifically 5.10.5 robot manufacturer. The robot designed to enable design and/or safety functions will collaborative applications limit the energy transfer from the where the robot could contact a...
  • Page 117 User Manual UR16e PolyScope X...
  • Page 118 Part II PolyScope X Software Manual Part II PolyScope X Software Manual UR16e PolyScope X User Manual...
  • Page 119 User Manual PolyScope X Original instructions (en) SW 10.7...
  • Page 120 UR16e PolyScope X User Manual...
  • Page 121 The information contained herein is the property of Universal Robots A/S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A/S. The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A/S. This document is periodically reviewed and revised.
  • Page 122 UR16e PolyScope X User Manual...
  • Page 123 Contents 1. Preface Part I Hardware Installation Manual 1.1. Safety 1.1.1. Validity and Responsibility 1.1.2. Limitation of Liability 1.1.3. Safety Message Types 1.1.4. General Warnings and Cautions 1.1.5. Intended Use 1.1.6. Risk Assessment 1.1.7. Pre-Use Assessment 1.1.8. Emergency Stop 1.1.9. Movement Without Drive Power 1.1.10.
  • Page 124 1.4. Transportation 1.4.1. Transport Without Packaging 1.5. Maintenance and Repair 1.6. Robot Arm Cleaning and Inspection 1.7. Disposal and Environment 1.8. Certifications 1.9. Stopping Time and Stopping Distance 1.10. Declarations and Certificates (original EN) 1.11. Warranty Information 1.12. Certificates 1.13. Applied Standards 1.14.
  • Page 125 7.4. Safety Menu Settings 7.4.1. Robot Limits 7.4.2. Safety I/O Signals 7.4.3. Safety Planes To restrict the elbow joint 8. Operational Mode 9. Application Tab 9.1. Communication 10. Glossary 10.1. Index User Manual UR16e PolyScope X...
  • Page 126 2. Preface Congratulations on the purchase of your new Universal Robots e-Series robot. The robot can be programmed to move a tool, and communicate with other machines using electrical signals. It is an arm composed of extruded aluminum tubes and joints.
  • Page 127 The joints, the base and the tool flange of the Robot Arm. With six joints and a wide scope of flexibility, Universal Robots e-Series collaborative robot arms are designed to mimic the range of motion of a human arm. Using our patented programming interface, PolyScope, it is easy to program the robot to move tools and communicate with other machines using electrical signals.
  • Page 128 Universal Robots disclaims any liability, even though all guidelines contained within this document are followed. Always perform a thorough risk assessment for the specific application. Consult the safety section in the Universal Robots User Manual for general precautions. UR16e PolyScope X User Manual...
  • Page 129 3. Robot Arm Basics The Universal Robots robot arm is composed of tubes and joints. The coordinated motion of these tubes and joints, via PolyScope X software, moves the robot arm. • Base: where the robot arm is mounted. • Shoulder and Elbow: where the larger movements originate. •...
  • Page 130 4. Install the robot To start using PolyScope X, make sure your robot arm and Control Box are assembled and the power cable is plugged in. 4.1. Assembling the robot arm and Control Box If the robot is not assembled, you may need to assemble and mount the robot arm and Control Box. WARNING Tipping hazard.
  • Page 131 5. PolyScope X Overview PolyScope X is the Graphical User Interface (GUI) installed on the Teach Pendant that operates the robot arm via a touch screen. The PolyScope X interface allows you to create, load and execute programs. 5.0.1. Screen Layout The interface is divided as shown in the following illustration: •...
  • Page 132 Figure 2.3:   Main screen and multitask screen To show/hide the multitask screen In the right header, tap any icon to show the multitask screen. The right header expands to the middle of the screen to accommodate the multitask screen. Tap the currently selected icon in the right header to hide the multitask screen. 5.1.
  • Page 133 5.2. Icons Left Header Icons Icon Title Description A simple means of operating the robot using Operator pre-written programs To configure the robot arm settings and Application external equipment, eg mounting and TCPs Program Modifies the current robot program Controls and/or regulates robot movement More Access to About information and Settings About...
  • Page 134 Manages the robot state. When RED, press it to make the robot operational. • Black, Power off. The robot arm is in a stopped state. • Orange, Idle. The robot arm is on, but not ready for normal operation. • Orange, Locked.
  • Page 135 6. Initialize On the footer, to the left, the Initialize button indicates the status of the robot using colours: • Black, Power off. The robot arm is in a stopped state. • Orange, Idle. The robot arm is on, but not ready for normal operation. •...
  • Page 136 7. Safety WARNING Before you configure your robot safety settings, your integrator must conduct a risk assessment to guarantee the safety of personnel and equipment around the robot. A risk assessment is an evaluation of all work procedures throughout the robot lifetime, conducted in order to apply correct safety configuration settings.
  • Page 137 7.4. Safety Menu Settings 7.4.1. Robot Limits Limit Description Power limits maximum mechanical work produced by the robot in the environment. This limit considers the payload a part of the robot and not of the environment. Momentum limits maximum robot momentum. Stopping Time limits maximum time it takes the robot to stop e.g.
  • Page 138 NOTICE The tool speed and force are limited at the tool flange and the center of the two user-defined tool positions Under normal conditions, i.e. when no Robot stop is in effect, the safety system operates in a Safety Mode associated with a set of safety limits Safety mode Effect Normal mode...
  • Page 139 The safety functions listed in the table below can be used with the input signals Input Signals System Emergency Stop This is an emergency stop button alternative to the one on the Teach Pendant, providing the same functionality if the device complies with ISO 13850.
  • Page 140 Output Signals System Emergency Stop Signal is Low when the safety system has been triggered into an Emergency Stopped state by the Robot Emergency Stop input or the Emergency Stop Button. To avoid deadlocks, if the Emergency Stopped state is triggered by the System Emergency Stop input, low signal will not be given.
  • Page 141 • Disabled: The safety plane is never active in this state. • Normal: When the safety system is in Normal mode, a normal plane is active and it acts as a strict limit on the position. • 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.
  • Page 142 8. Operational Mode Description Operational Modes are enabled in the UI, and protected by a password. They can additionally be configured by defining an Operational Mode Configurable I/O. Automatic Mode Once activated, the robot can only perform the loaded pre-defined task. The Application Tab, Program Tab, 3D Tab and Freedrive Mode are unavailable.
  • Page 143 Switching Modes To switch between modes, in the Right Header, select the profile icon to display the Mode Section. • Automatic indicates the operational mode of the robot is set to Automatic. • Manual indicates the operational mode of the robot is set to Manual.
  • Page 144 9. Application Tab The Application tab allows you to configure the settings which affect the overall performance of the robot and PolyScope X. Figure 2.6:   Application screen displaying application buttons. Use the Application tab to access to the following configuration screens: • Mounting •...
  • Page 145 Figure 2.7:   Communication screen displaying I/Os. Software Name: PolyScope X Software Version: 10.7 Document Version: User Manual UR16e PolyScope X...
  • Page 146 10. Glossary Stop Category 0 Robot motion is stopped by immediate removal of power to the robot. It is an uncontrolled stop, where the robot can deviate from the programmed path as each joint brake as fast as possible. This robot stop is used if a safety-related limit is exceeded or in case of a fault in the safety-related parts of the control system.
  • Page 147 10.1. Index Base 82, 129 bla 131 Configurable I/O 50 Control Box 8, 38, 47, 49, 59, 62-63, 94, 127 Conveyor Tracking 49 Elbow 82, 129 Ethernet 62 EtherNet/IP 62 Freedrive 35-36 General purpose I/O 50 I/O 47, 50 User Manual UR16e PolyScope X...
  • Page 148 Mini Displayport 61 MODBUS 62 Mounting bracket 8, 127 Normal 34 Normal mode 138 PolyScope 8, 35-36 PolyScope X 130 Recovery 35-36 Recovery mode 138 Reduced 34 Reduced mode 138-140 risk assessment 9, 14, 25, 29, 127 robot arm 47, 128-129 Robot arm 94 robot cable 65-66 Robot Moving 140...
  • Page 149 Safety I/O 27, 33, 50-51 Safety instructions 75 Safety planes 140 Safety Settings 14 Shoulder 82, 129 System Emergency stop 139 System Emergency Stop 140 Teach Pendant 8, 38, 59, 94, 127 Tool Center Point 138 Tool Flange 129 Tool I/O 67 Trigger Reduced Plane 34 UR Forum 11 UR+ 10...
  • Page 150 UR16e PolyScope X User Manual...
  • Page 151 UR16e PolyScope X User Manual...
  • Page 152 Software Name: PolyScope X Software Version: 10.7 Document Version:...

This manual is also suitable for:

Ur20Polyscope xUr30