Universal Robots PolyScope X UR16e 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. Safety-related Functions and Interfaces
1.2. Mechanical Interface
1.2.1. Workspace and Operating Space
1.2.2. Mounting Description
1.2.3. Securing the Robot Arm
1.2.4. Securing Tool
1.2.5. Control Box Clearance
1.2.6. Maximum Payload
1.3. Electrical Interface
1.3.1. Electrical Warnings and Cautions
1.3.2. Controller I/O
1.3.3. Safety I/O
1.3.4. Three Position Enabling Device
1.3.5. General Purpose Digital I/O
1.3.6. General Purpose Analog I/O
1.3.7. Remote ON/OFF Control
1.3.8. Control Box Connection Ports
1.3.9. Ethernet
1.3.10. Mains Connections
1.3.11. Robot Connections: Robot Cable
1.3.12. Robot Connections: Base Flange Cable
1.3.13. Tool I/O
1.3.14. Tool Power Supply
1.3.15. Tool Digital Outputs
1.3.16. Tool Digital Inputs
1.3.17. Tool Analogue Inputs
1.3.18. Tool Communication I/O
User Manual
8
13
13
14
14
15
16
18
21
24
25
26
27
36
36
37
40
44
44
46
46
47
49
51
56
57
58
59
61
61
62
64
66
67
69
70
71
71
72
UR16e PolyScope X