Page 1 User Manual UR30 Original instructions (en) PolyScope 5...
Page 2 UR30 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 UR30...
Page 4 UR30 User Manual...
Page 5 Contents 1. Liability and Intended Use 1.1. Limitation of Liability 1.2. Intended Use 2. Your Robot 2.1. Technical Specifications UR30 2.2. Teach Pendant with 3-Position Enabling Device 2.2.1. 3PE Teach Pendant Button Functions 2.2.2. Using the 3PE Buttons 2.3. PolyScope Overview 2.3.1. Icons/Tabs On PolyScope 3. Light Ring...
Page 6 8.10.5. Set Payload 8.10.6. Tool I/O Installation Specifications 8.10.7. Tool Power Supply 8.10.8. Tool Digital Outputs 8.10.9. Tool Digital Inputs 8.10.10. Tool Analogue Inputs 8.10.11. Tool Communication I/O 9. First Time Use 9.1. Quick System Start-up 9.2. The First Program UR30 User Manual...
Page 7 10. Cybersecurity Threat Assessment 10.1. General Cybersecurity 10.2. Cybersecurity Requirements 10.3. Cybersecurity Hardening Guidelines 10.4. Passwords 10.5. Password Settings 10.6. Administrator Password 10.7. Operational Password 11. Communication Networks 12. Fieldbus 12.1. MODBUS 12.2. EtherNet/IP 12.3. PROFINET 12.4. PROFIsafe 12.5. UR Connect User Manual UR30...
Page 8 15.5. Accessing Robot Data 16. Disposal and Environment 17. Risk Assessment 17.1. Pinch Hazard 17.2. Stopping Time and Stopping Distance 17.3. Commissioning 18. Declarations and Certificates (original EN) 19. Declarations and Certificates 20. Certifications 21. Certificates 22. Safety Functions Table 22.1. Table 1a 22.2. Table 2 UR30 User Manual...
Page 9 User Manual UR30...
Page 10 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 11 • 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. Do not modify or alter e-Series end caps. A modification can create unforeseen hazards.
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 Risk assessment requires an understanding of the hazards, risks and risk reduction measures for the robot application. Robot integration can require a basic level of mechanical and electrical training. User Manual UR30...
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 Manuals, guides and handbooks can be read online. We have gathered a large number of manuals documents at https://www.universal-robots.com/manuals • 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 UR30...
Page 16 2. Your Robot 2.1. Technical Specifications UR30 Robot type UR30 30 kg (66.1 lb) 35 kg (77.1 lb) with boundary conditions according to the Maximum payload manual Reach 1300 mm / 51.18 in Degrees of freedom 6 rotating joints Programming PolyScope GUI on 12 in touchscreen 750 W (max.) Power consumption (average) Approx. 300 W using a typical program...
Page 17 Header. NOTICE • If you have bought a UR20 or a UR30 robot, a Teach Pendant without the 3PE device will not work. • 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.
Page 18 2. Your Robot Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. UR30 User Manual...
Page 19 Tight- There is full pressure on press the 3PE button. It is Robot movement is stopped in Manual (Grip pressed all the way mode. Robot is in 3PE Stop. tightly) down. Button release Button press User Manual UR30...
Page 20 Using Move Robot into Position Description Move Robot into Position allows the robot arm to move to that start position, after you complete a program. The robot arm must be in the start position before you can run the program. UR30 User Manual...
Page 21 Now, on PolyScope, press and hold Automove for the robot arm to move to the start position. The Play Program screen appears. Maintain a light-press on the 3PE button to run your program. Release the 3PE button to stop your program. User Manual UR30...
Page 22 2. Your Robot UR30 User Manual...
Page 23 For best results, use the tip of your finger to make a selection on the screen. In this manual, this is referred to as a "tap". A commercially available stylus may be used to make selections on the screen if desired. User Manual UR30...
Page 24 Manual indicates the operational mode of the robot is set to Manual. Tap it to switch to the Automatic operational mode. Remote The Local mode and Remote mode icons only become accessible if you enable Remote Control Control. UR30 User Manual...
Page 25 High Speed High Speed Manual Mode is a hold-to-run function, only available in Manual mode when a Manual Three-Position Enabling Device is configured. Mode High Speed Manual Modeallows both tool speed and elbow speed to temporarily exceed 250mm/s. User Manual UR30...
Page 26 The light ring at the base of the robot arm provides status indication as described in the table below. NOTICE The light ring configuration can be modified and/or disabled by the user. Robot base Light ring Base UR30 User Manual...
Page 27 Robot can be moved by hand Blue 1. Backdrive Not Automatic, Not being moved 2. Freedrive 1. Booting process No power available to the robot arm 1. Fault 2. Violation 3. Loading Screen 4. System power OFF User Manual UR30...
Page 28 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 any damages...
Page 29 Indicates a hazardous situation that, if not avoided, can result in injury. 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. User Manual UR30...
Page 30 Adhere to the requirements and guidance in ISO 10218-2. 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. UR30 User Manual...
Page 31 • Read the commissioning information. 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. User Manual UR30...
Page 32 *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 33 5. Lifting and Handling 5. Lifting and Handling User Manual UR30...
Page 34 Lifting or movement of heavy parts can cause injury. • Lifting apparatus/aid to lift can be required. WARNING Incorrect assembly of components and/or wiring can lead to injury. • Personal protective gear (footwear, eyewear, gloves) can be required. UR30 User Manual...
Page 35 If the sling is provided, equipment for lifting and transport is required. 5.2.1. Round Sling Use Description The round sling is provided by UR with UR20 and UR30 robots. According to the manufacturer, the round sling conforms to the following standards: •...
Page 36 Observe local regulations regarding inspection of lifting equipment. • Observe local regulations regarding inspection frequency of lifting equipment. Table Round Sling Description Item Round sling 1T x 1M/2M Color Violet (according to EN 1492-2) Material Polyester 1.0 (1000 KG) Straight Lift WLL Factor 0.8 (800 KG) Choke Hitch UR30 User Manual...
Page 37 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 User Manual UR30...
Page 38 9.5 ± ,5 0.030 8 FG8 0.008 X 13 9,5 ± 0,5 10.50 THRU ALL Mounting Plate with Pins for Robot Base 0.05 8 h6 - 0.009 8 h6 - 0.009 Dimensions and hole pattern for mounting the robot. UR30 User Manual...
Page 39 (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 Ø8 mm. hole and Ø8x13 mm. slot with corresponding ISO 2338 Ø8 h6 positioning pins in the mounting plate. User Manual UR30...
Page 40 : 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. UR30 User Manual...
Page 41 The values stated in the following tables are maximum nominal loads in worst-case movements multiplied with a safety factor of 2.5. The actual loads will not exceed these values. Robot Model Mz [Nm] Fz[N] [Nm] UR30 2220 3520 2700 2370 Maximum joint torques during category 0, 1 and 2 stops. Robot Model...
Page 42 IP ratings of the robot (IP54), Teach Pendant (IP54) and Control Box (IP44) WARNING Unstable mounting can result in injury. • Always make sure the robot parts are properly and securely mounted and bolted in place. UR30 User Manual...
Page 43 The tool should not be moved close to the cylindrical volume, as it causes the joints to move too fast even when the tool is moving slowly. This can present a risk to property and functionality. Front Tilted User Manual UR30...
Page 44 The singularity occurs because the robot cannot reach far enough or it reaches outside of workspace the maximum working area. limit To avoid: Arrange the equipment around the robot to avoid it reaching outside of the recommended workspace. UR30 User Manual...
Page 45 (linear axis, push cart, or mobile robot base), it must be installed securely to ensure stability through all motions. The design of the mounting must ensure stability when there are movements of: • the robot arm • the robot base • both robot arm and robot base User Manual UR30...
Page 46 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. UR30 User Manual...
Page 47 Do not extend a 12 m Robot Cable. NOTICE Connecting the Base Flange Cable directly to any Control Box can result in equipment or property damage. • Do not connect the Base Flange Cable directly to the Control Box. User Manual UR30...
Page 48 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. UR30 User Manual...
Page 49 The electrical specifications are shown in the table below. Parameter Unit Input voltage External mains fuse (90- 88151515 200V) External mains fuse (200- 264V) Input frequency Stand-by power <1.5 150150250250300 325325500500750 Nominal operating power User Manual UR30...
Page 50 • 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. UR30 User Manual...
Page 51 Starting up the robot in lower temperatures can result in lower performance, or stops, due to temperature dependent oil and grease viscosity. • Starting up the robot in low temperatures can require a warmup phase. 7.1. Starting your robot User Manual UR30...
Page 52 When you install your robot for the first time, you need to configure serial number on the serial control box to match the robot arm. This procedure is also required when you re-install the software on the control box, such as number when receiving a software update. UR30 User Manual...
Page 53 Add the serial number as it is written on the robot arm. End with the OK button. 7.3. Initializing the Robot Arm To initialize On your first start up a Cannot Proceed dialog box can appear. the robot Select Go to initialization screen to access the Initialize screen. User Manual UR30...
Page 54 The Control Box mainly contains the physical electrical Input/Output that connects the robot Control Box arm, the Teach Pendant and any peripherals. You must turn on the Control Box to be able to on/off power on the robot arm. UR30 User Manual...
Page 55 Press the power button on the Teach Pendant to turn off the robot. Unplug the mains cable / power cord from the wall socket. Allow 30 seconds for the robot to discharge any stored energy. User Manual UR30...
Page 56 You can define the type of feature if required, by selecting an option from the Feature dropdown list. The robot arm can stop moving if it approaches a singularity scenario. Tap All axes are free in the Freedrive panel to resume movement. Move the robot arm as desired. UR30 User Manual...
Page 57 In some situations, such as when the robot is close to collision, these vibrations are undesirable. Use Backdrive to force specific joints to a desired position without releasing all brakes in the robot arm. User Manual UR30...
Page 58 7.6.1. Freedrive Panel Description When the robot arm is in Freedrive, a panel appears on PolyScope, as illustrated below. UR30 User Manual...
Page 59 Movement is allowed through all axes, in a spherical motion, around the TCP. Rotation CAUTION Moving the robot arm in some axes when a tool is attached, can present a pinch point. • Use caution when moving the robot arm in any axis. User Manual UR30...
Page 60 UR30 User Manual...
Page 61 The buttons on the right side of the screen are for setting the angle of the Robot arm’s ∘ ∘ mounting. The top three right side buttons set the angle to ceiling (180 ), wall (90 ), floor ∘ ). The Tilt buttons set an arbitrary angle. User Manual UR30...
Page 62 Press the power button on the Teach Pendant to turn off the robot. Unplug the mains cable / power cord from the wall socket. Allow 30 seconds for the robot to discharge any stored energy. UR30 User Manual...
Page 63 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 64 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 65 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 UR30...
Page 66 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 UR30 User Manual...
Page 67 Press in the clips on both sides of the Teach Pendant plug as illustrated, and pull down to disconnect from the 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 UR30...
Page 68 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. UR30 User Manual...
Page 69 In the Teach Pendant drop-down list, select 3PE Enabled. Tap Apply to restart the system. PolyScope continues to run. Tap Confirm Safety Configuration to complete the 3PE Teach Pendant software installation. As the robot restarts and initializes, light-press the 3PE button and tap Start on PolyScope. User Manual UR30...
Page 70 Yellow with black text 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. UR30 User Manual...
Page 71 The electrical specifications for both the internal and external power supply are shown below. Terminals Parameter Unit Internal 24V power supply Voltage [PWR - GND] Current [PWR - GND] External 24V input requirements Voltage [24V - 0V] Current [24V - 0V] *3.5A for 500ms or 33% duty cycle. User Manual UR30...
Page 72 [EIx/SIx/CIx/DIx] Function PNP + Type IEC 61131-2 Type [EIx/SIx/CIx/DIx] *For resistive loads or inductive loads of maximum 1H. 8.5.1. I/O Interface Control Description The I/O Interface Control allows you to switch between user control and URcap control. UR30 User Manual...
Page 73 (see I/O); those which are reserved will have the name of the safety function in place of the default or user defined name. Configurable outputs that are reserved for safety settings are not togglable and will be displayed as LED’s only. User Manual UR30...
Page 74 On the I/O screen, the Tool Input field appears as shown. Interface Dual Pin power When Dual Pin Power is enabled, the tool digital outputs must be named as follows: • tool_out[0] (Power) • tool_out[1] (GND) UR30 User Manual...
Page 75 Output. Use the PolyScope interface to define a set of configurable I/O for safety functions. 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. User Manual UR30...
Page 76 The robot is delivered with a default configuration, which enables operation without any configuration additional safety equipment. Safety Connecting Most applications require one or more extra emergency stop buttons. The illustration emergency below shows how one or more emergency stop buttons can be connected. stop buttons Safety Safety UR30 User Manual...
Page 77 In this example a safety mat is a safety device safeguard device where the robot is where automatic resume is appropriate. This stopped when the door is opened. example is also valid for a safety laser scanner. User Manual UR30...
Page 78 If the safeguard interface is used to interact with a light curtain, a reset outside the safety Stop with perimeter is required. The reset button must be a two channel type. In this example the I/O reset button configured for reset is CI0-CI1. Safety Configurable7Inputs UR30 User Manual...
Page 79 0.5s after the input is triggered. If the robot arm continues to violate any of the reduced limits, a Stop Category 0 is triggered. Trigger planes can also cause a transition to the reduced configuration. The safety system transitions to the normal configuration in the same way. User Manual UR30...
Page 80 • Use the external reset to ensure resetting only when a person is not exposed to hazards. WARNING When Automatic Mode Safeguard stop is enabled, a safeguard Stop is not triggered in Manual Mode. UR30 User Manual...
Page 81 Hence, to comply with safety standards, the external machinery must require manual action in order to resume. System Stop was previously known as "System Emergency Stop" for Universal Robots robots. PolyScope can display "System Emergency Stop". User Manual UR30...
Page 82 (i.e., for a Wait command or the conditional expression of an If command). The Wait and If commands are described in (Wait) and (If), respectively. You can find named general purpose registers in the Input or Output selector on the Expression Editor screen. UR30 User Manual...
Page 83 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. User Manual UR30...
Page 84 Continuous Pulse the program to high and maintain the pulse state) Program An unscheduled program termination can occur for any of the reasons listed below: Termination • Robot stop Cause • Fault • Violation • Runtime exception UR30 User Manual...
Page 85 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 switch. Mode Switch The illustration below shows an Operational Mode switch. Configurable Inputs Operational mode Switch User Manual UR30...
Page 86 Analog Output in current mode Current [AOx - AG] [AOx - AG] Voltage Resolution [AOx - AG] Analog Output in voltage mode Voltage [AOx - AG] [AOx - AG] Current Resistance [AOx - AG] [AOx - AG] Resolution UR30 User Manual...
Page 87 Wait For options and expressions. In the drop-down menus under Communication Interface, select required values. Any changes in values are immediately sent to the tool. If any installation values differ from what the tool is using, a warning appears. User Manual UR30...
Page 88 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 8.9.1. Digital Output UR30 User Manual...
Page 89 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. User Manual UR30...
Page 90 The UR20 tool I/O can require an accessory element to facilitate connection with tools. Accessories Depending on the tool, you can use the following tool I/O accessories: Tool Flange Adapter (see Tool Flange Accessories) and/or Tool Cable Adapter. UR30 User Manual...
Page 91 Analog in 3 or RS485- Digital Inputs 1 Digital Inputs 0 POWER 0V/12V/24V TO1/GND Digital Outputs 1 or Ground TO0/PWR Digital Outputs 0 or 0V/12V/24V Ground GROUND The tool flange is connected to GND (Ground). 8.10.2. Maximum Payload User Manual UR30...
Page 92 You can verify the reach and payload of your robot in the Technical Specifications. Payload [kg] expanded payload full performance Center of gravity offset [mm] The relationship between the rated payload and the center of gravity offset. UR30 User Manual...
Page 93 The higher load on the joints can limit some motions inside the working range of the robot. The robot software automatically ensures the mechanical limits of the robot are not exceeded. NOTICE Using the expanded payload range does not void your robot warranty for this robot. User Manual UR30...
Page 94 [12V - GND] [ON / OFF] Inactive voltage Active voltage [ON / OFF] [ON / OFF] Input current Activation time [ON] Remote Remote This example illustrates connecting a remote This example illustrates connecting a remote ON button. OFF button. UR30 User Manual...
Page 95 CAUTION Very long M8 bolts can press against the bottom of the tool flange and short circuit the robot. • Do not use bolts that extend beyond 10 mm to mount the tool. User Manual UR30...
Page 96 A correctly configured payload weight ensures optimal robot movement. Setting the payload correctly ensures optimal motion performance and avoids robot stops. • When setting up the payload for use in a pick and place program, using a gripper. Set Payload UR30 User Manual...
Page 97 Setting a transition time larger than zero, prevents the robot from doing a small "jump", when the payload changes. The program continues while the adjustment is taking place. Using the Payload Transition Time is recommended when picking up or releasing heavy objects or using a vacuum gripper. User Manual UR30...
Page 98 The green icon in the drop-down menu indicates the default configured Payload Setting the Tap the fields CX, CY and CZ to set the center of gravity. The settings apply to the selected Center of Payload. Gravity UR30 User Manual...
Page 99 Ensure the TCP positions are as different as possible from each other • Perform the measurements within a short timespan • Avoid pulling on the tool and/or attached payload before and during estimation • Robot mounting and angle must be correctly defined in the installation User Manual UR30...
Page 100 The inertia is specified in a coordinate system with the origin at the Center of Gravity (CoG) of Values 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 UR30 User Manual...
Page 101 *** 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. User Manual UR30...
Page 102 Tap Tool IO and select Dual Pin Power. 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). UR30 User Manual...
Page 103 I/O tab must be define. There is voltage between the POWER Outputs 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 User Manual UR30...
Page 104 Input resistance @ range 0V to 10V 10.7 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. UR30 User Manual...
Page 105 RS485. A buffer stores data sent to the tool connector until the line goes idle. 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 User Manual UR30...
Page 106 Robot field. 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. NOTICE Learn to program your Universal Robots robot on www.universal- robots.com/academy/ UR30...
Page 107 Robot Arm into place while holding down the Freedrive button at the top of the Teach Pendant. You can create a program can to send I/O signals to other machines at certain points in the robot’s path, and perform commands like if…then and loop, based on variables and I/O signals. User Manual UR30...
Page 108 Do not increase the speed or acceleration above the default values. Always conduct a risk assessment before placing the robot into operation. WARNING Keep your head and torso outside the reach (workspace) of the robot. Do not place fingers where they can be caught. UR30 User Manual...
Page 109 The same installation can be used with multiple programs. All program variables and installation variables in your program are displayed in the Variables pane as a list showing the Name, Value and Description of the variable. User Manual UR30...
Page 110 You can also collapse and expand the Description column by using the column buttons shown below. To collapse/expand the Description column 1. Tap to collapse the Description column. 2. Tap to expand the Description column. here UR30 User Manual...
Page 111 Collapsed Description column Expanded Description column User Manual UR30...
Page 112 Tap Stop to stop the running program Stop You cannot resume a stopped program. You can tap Play to restart the program. To pause a program Tap Pause to pause a program at a specific Pause point. You can resume a paused program. UR30 User Manual...
Page 113 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. User Manual UR30...
Page 114 You can use the Basic, Advanced and Template dropdowns to the very left. • The right side contains the configuration of the program nodes you can add to your program. You can use Command, Graphics and Variables options. UR30 User Manual...
Page 115 • You cannot run an empty program tree or a program containing incorrectly Adding configured program nodes. program nodes • Incorrectly configured programs nodes are higlighted in yellow. • Correctly configured program nodes are highlighted in white. User Manual UR30...
Page 116 Search You can also search for a specific command/program node. This is useful when you have a Button long program with many different program nodes. UR30 User Manual...
Page 117 Delete removes a node from the Program Tree. Suppress suppresses specific nodes on the Program Tree. Search Button search in the Program Tree. Tap the icon to exit search. User Manual UR30...
Page 118 In the Footer, tap Play. a selected Select Play from Selection to run a program from a node in the program tree. node Example You can start a stopped program again from a specific node. UR30 User Manual...
Page 119 Waypoints are automatically added when you add Move commands to a program. You can also use Moves to set acceleration and speed for the robot arm's movement between waypoints. The robot moves using four Move commands: • MoveJ • MoveL • MoveP • MoveCircle User Manual UR30...
Page 120 In your Robot Program, select the place where you wish to add a Move. Add a MoveL command Under Basic, tap Move to add a waypoint to the robot program together with a Move node. Select the move node. Select MoveL from the drop-down menu. UR30 User Manual...
Page 121 Under Basic, tap Move. command A waypoint is added to the robot program together with the Move node. Select the move node. Select the MoveP from the drop-down menu. Tap Add circle move Select the orientation mode. User Manual UR30...
Page 122 A mode is used to calculate tool orientation, through the circular arc. The mode can be: • Fixed: only the start point is used to define the tool orientation. • Unconstrained: the start point transforms to the EndPoint to define tool orientation. UR30 User Manual...
Page 123 In your Robot Program, select the place where you wish to add a Move. Add a waypoint to a Under Basic, tap Move. robot program A waypoint is added to the robot program together with the Move node. User Manual UR30...
Page 124 Move command. The relationship between the feature and the TCP, applied to the current selected feature, achieves the desired TCP location. The robot calculates how to position the arm to allow the current active TCP to reach the desired TCP position. UR30 User Manual...
Page 125 When the robot TCP is no longer in proximity of the limit, the 3D representation disappears. If the TCP is in violation or very close to violating a boundary limit, the visualization of the limit turns red. User Manual UR30...
Page 126 , defined by a horizontal bar. Once the limit is reached you cannot move a joint any further. You can configure joints with a position range different from the default, this new range is indicated with red zone inside the horizontal bar. UR30 User Manual...
Page 127 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. User Manual UR30...
Page 128 The Robot Arm moves to the specified target. If the last specified value was a tool coordinate, the Robot Arm moves to the target position using movement type MoveL; or it uses movement type MoveJ if a joint position was specified last. UR30 User Manual...
Page 129 Cancel The Cancel button exits the screen discarding all changes. Button User Manual UR30...
Page 130 9.3. 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 131 9.3.1. 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 132 (away from the base) at low speeds. Similarly, the short leverage arm, when the tool/end effector is close to the base and moving around the base, can cause high forces at low speeds. 9.3.2. Safety Functions UR30 User Manual...
Page 133 3PE Stop (if a 3-Position Enabling device is connected) Stop Category 2 Limit Violation Stop Category 0 Fault Detection Stop Category 0 NOTICE If the safety system detects any fault or violation, all safety outputs re- set to low. User Manual UR30...
Page 134 This can happen in either of the following circumstances: • Switching from the reduced configuration to normal • Switching from the normal configuration to reduced The robot arm adapts to the new safety limits within the 500 ms. UR30 User Manual...
Page 135 • Use caution when moving the robot arm back within the limits, as limits for the joint positions, the safety planes, and the tool/end effector orientation are all disabled in recovery mode. 9.4. Software Safety Configuration User Manual UR30...
Page 136 Safety configuration settings for set-up and teaching before the robot arm is powered on for the first time. All safety configuration settings accessible on this screen and sub-tabs. The integrator must ensure that all changes to the safety configuration settings comply with the risk assessment. UR30 User Manual...
Page 137 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. Press Lock tab or navigate away from the Safety menu to lock all Safety item settings again. User Manual UR30...
Page 138 On the left of the screen, in the blue menu, press Password and select Safety. In New password, type a password. Now, in Confirm new password, type the same password and press Apply. In the bottom left of the blue menu, press Exit to return to previous screen. UR30 User Manual...
Page 139 Place following text in the operators’ manuals: Before working near the robot, make sure that the safety configuration is as expected. This can be verified e.g. by inspecting the Safety Checksum in the top right corner of PolyScope for any changes. User Manual UR30...
Page 140 The Safety Checksum changes if you change the Safety Functions settings, because the Safety Checksum is only generated by the safety settings. You must apply your changes to the Safety Configuration for the Safety Checksum to reflect your changes. UR30 User Manual...
Page 141 In the Side Menu on left tap Safety and select Hardware. Input Safety password and Unlock the screen. Deselect Teach Pendant to use robot without PolyScope interface. Press Save and restart to implement changes. 9.4.5. Software Safety Modes User Manual UR30...
Page 142 The robot controller prevents violations by making a robot stop or by reducing the speed. Robot stop was previously known as "Protective Stop" for Universal Robots robots. UR30 User Manual...
Page 143 Factory Presets is where you can use the slider to select a predefined safety setting . The Presets values in the table are updated to reflect the preset values ranging from Most Restricted to Least Restricted NOTICE Slider values are only suggestions and do not substitute a proper risk assessment. User Manual UR30...
Page 144 Limits maximum force that the robot tool exerts on the environment to Tool Force prevent clamping situations. Elbow Speed Limits maximum robot elbow speed. Limits maximum force that the elbow exerts on the environment to Elbow Force prevent clamping situations. UR30 User Manual...
Page 145 Joint limits allow you to restrict individual robot joint movements in joint space i.e. joint rotational position and joint rotational speed. Joint limiting can also be called software based axis limiting. The joint limit options are: Maximum speed and Position range. User Manual UR30...
Page 146 UR30 User Manual...
Page 147 In the Side Menu on the left of the screen, under Safety, select I/O. On the I/O screen in the Output Signal, under Function Assignment, in drop-down menu, select Safe Home. Tap Apply and in the dialog box that appears, select Apply and restart. User Manual UR30...
Page 148 Tap Edit Position and set the new robot arm position and tap OK. In the Side Menu, under Safety, select Safe Home. You need a Safety password to Unlock the Safety Settings. Under Safe Home, tap Sync from Home UR30 User Manual...
Page 149 Pressing this icon hides or shows the safety plane in the Show graphics pane. Deletes the created safety plane. There is no undo/redo Delete action. If a plane is deleted in error, it must be remade. Rename Pressing this icon allows you to rename the plane. User Manual UR30...
Page 150 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. UR30 User Manual...
Page 151 The side of the plane the tool and/or elbow is allowed to be on (For Green Arrow Trigger Planes) The side of the plane the tool and/or elbow is allowed to be on (For Gray Arrow Disabled Planes) User Manual UR30...
Page 152 0.1 m UR5e 0.13 m UR10e / UR16e 0.15 m UR20 / UR30 0.19 m The information about the specific radius can be found in the urcontrol.conf file on the robot under the section [Elbow]. Tool Flange Restricting the tool flange prevents the tool flange and the attached tool from crossing a Restriction safety plane.
Page 153 When working with an unrestricted tool flange and a defined tool, it is ensured that the dangerous part of the tool can't go above and/or beyond certain area. The unrestricted tool flange can be used for any application where safety planes are needed, like Welding or Assembly. User Manual UR30...
Page 154 (TIP: Change the display of rotation from “Rotation Vector [rad]” to “RPY [°]”) If needed it is possible to offset the plane in either positive or negative Z-direction later in the safety settings. When satisfied with the position of the plane, tap OK. UR30 User Manual...
Page 155 Configuration of the tool direction is based on features. We recommend you create desired feature(s) before editing the safety configuration, as once the Safety Tab has been unlocked, the robot arm powers off making it impossible to define new features. User Manual UR30...
Page 156 • Pan angle: How much to rotate the tilted Z axis around the original output flange Z axis. Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the drop-down menu. UR30 User Manual...
Page 157 Tool_1 is the default tool defined with values x=0.0, y= 0.0, z=0.0 and radius=0.0. These values represent the robot tool flange. Under Copy TCP, you can also select Tool Flange and cause the tool values to go back to 0. A default sphere is defined at the tool flange. User Manual UR30...
Page 158 You can rename the tool by pressing the pencil tab next to the displayed tool name. You can also determine the Radius with an allowed range of 0-300 mm. The limit appears in the graphics pane as either a point or a sphere depending on radius size. UR30 User Manual...
Page 159 Tap the edit button to rename Tool_x to something more identifiable. Edit the Radius and Position to match that of the tool you are currently using, or use the Copy TCP drop-down and choose a TCP from the General>TCP settings if such is defined. User Manual UR30...
Page 160 DONE. The warning on the Tool Position button indicates a tool is not added under Tool Flange. Tool Position button without the warning indicates a tool (other than the Tool Flange) is added. UR30 User Manual...
Page 161 10.1. 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 162 • 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 UR30 User Manual...
Page 163 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. User Manual UR30...
Page 164 In the bottom left of the blue menu, press Exit to return to previous screen. You can press the Lock tab to lock all Safety settings again or simply navigate to a screen outside of the Safety menu. UR30 User Manual...
Page 165 Creating a strong, secret password obtains the best security for your system. Under Confirm new password, repeat your new password. Tap Apply to confirm your password change. Safety The Safety password prevents unauthorized modification of the Safety settings. User Manual UR30...
Page 166 Under Password, tap Mode. Password Under New password, create a new password. Creating a strong, secret password obtains the best security for your system. Under Confirm new password, repeat your new password. Tap Apply to confirm your password change. UR30 User Manual...
Page 167 11. Communication Networks 11. Communication Networks User Manual UR30...
Page 168 12. Fieldbus 12. Fieldbus Description You can use the Fieldbus options to define and configure the family of industrial computer network protocols used for real-time distributed control accepted by PolyScope: • MODBUS • Ethernet/IP • PROFINET • PROFIsafe UR30 User Manual...
Page 169 The signal indicator turns yellow if the actual signal frequency is less than half of the value selected from the Frequency drop-down list. Add signal Push this button to add a signal to the corresponding MODBUS unit. Delete Push this button to delete a MODBUS signal from the corresponding MODBUS unit. signal User Manual UR30...
Page 170 Here, the current value of the signal is shown. For register signals, the value is expressed as value an unsigned integer. For output signals, the desired signal value can be set using the button. Again, for a register output, the value to write to the unit must be supplied as an unsigned integer. UR30 User Manual...
Page 171 SLAVE DEVICE BUSY (0x06) Specialized use in conjunction with programming commands sent to the remote MODBUS unit, the slave (server) is not able to respond now. Show This check box shows/hides the advanced options for each signal. Advanced Options User Manual UR30...
Page 172 The average frequency of client (master) signal status updates. Actual freq. 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. UR30 User Manual...
Page 173 PolyScope stops the current program. Stop If the PROFINET engineering tool (e.g. TIA portal) emits a DCP Flash signal to the robot's PROFINET or PROFIsafe device, a popup in PolyScope is displayed. 12.4. PROFIsafe User Manual UR30...
Page 174 Reduced mode Activates the Reduced mode safety limits. Activates either manual or automatic operational mode. If the safety configuration "Operational mode selection via Operational mode PROFIsafe" is disabled, this field shall be omitted from the PROFIsafe control message. UR30 User Manual...
Page 175 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. User Manual UR30...
Page 176 Robot is moving. If any joint moves at a velocity of 0.02 rad/s or Robot moving higher the robot is considered in motion. Robot is at rest (robot not moving), and in the position defined as Safe home position the Safe Home Position. UR30 User Manual...
Page 177 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. 12.5. UR Connect User Manual UR30...
Page 178 If you delay or dismiss, the update will only refresh when there is a new version. Follow the update steps. Restart PolyScope when the update is complete. NOTICE You can still update UR Connect even if it is NOT installed. UR30 User Manual...
Page 179 Hold the push-button and twist clockwise until the latching disengages. 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 UR30...
Page 180 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. UR30 User Manual...
Page 181 Execute Programs speed** Start program from selected node *Only when no Three-Position Enabling Device is configured. ** If a Three-Position Enabling Device is configured, the robot operates at Manual Reduced Speed unless High Speed Manual Mode is activated. User Manual UR30...
Page 182 3PE Teach Pendant must be used. A 3PE Teach Pendant (3PE TP) is recommended for programming. If another person can be within the safeguarded space when in Manual Mode, an additional device can be integrated and configured for the additional person's use. UR30 User Manual...
Page 183 The robot joints feel heavy to move, while Backdrive is in use. You can use any of the following sequences to enable Backdrive: • 3PE Teach Pendant • 3PE device/switch • Freedrive on robot User Manual UR30...
Page 184 Now you can apply significant pressure to release the brake in a desired joint to move the robot arm. As long as the hold is maintained on the Freedrive on robot, Backdrive is enabled, allowing the arm to move. UR30 User Manual...
Page 185 Backdrive Inspection Description If the robot is close to colliding with something, you can use Backdrive to move the robot arm to a safe position before initializing. 3PE Teach Pendant User Manual UR30...
Page 186 Verify the robot safety settings comply with the robot installation risk assessment. settings Additional safety inputs Check which safety inputs and outputs are active and that they can be triggered via and outputs PolyScope or external devices. are still functioning UR30 User Manual...
Page 187 User Manual UR30...
Page 188 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 189 It should be made clear if the e-Stop on the 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. User Manual UR30...
Page 190 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 191 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. User Manual UR30...
Page 192 • Contact with children and animals is prohibited. Robot Arm The table below is a checklist of the type of inspections recommended by Universal Robots. Inspection Perform inspections regularly as advised in the table. Any referenced parts found to be in an Plan unacceptable state must be rectified or replaced.
Page 193 15. Maintenance and Repair Robot Arm NOTICE Inspection Using compressed air to clean the robot arm can damage the robot arm Plan components. • Never use compressed air to clean the robot arm. User Manual UR30...
Page 194 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. UR30 User Manual...
Page 195 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. User Manual UR30...
Page 196 Robot Stop • Unhandled exception in URCap • Violation The exported report contains: a user program, a history log, an installation and a list of running services. Robot stop was previously known as "Protective Stop" for Universal Robots robots. UR30 User Manual...
Page 197 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. User Manual UR30...
Page 198 In the Program and Installation Manager, tap Open... and select Program. To load On the Load Program screen, select an existing program and tap Open. progra In the File Path, verify that the desired program name is displayed. UR30 User Manual...
Page 199 In the Program and Installation Manager, tap Save... and select Save Installation As... On the Save Robot Installation screen, assign a file name and tap Save. Select Set Installation to set installation for the current Program. In File Path, verify that the new installation name is displayed. User Manual UR30...
Page 200 Program is saved, with the existing name and location. 15.5. Accessing Robot Data Description Use the About option to access and display different types of data about the robot. You can display the following types of robot data: • General • Version • Legal UR30 User Manual...
Page 201 For the other data types you can: • Tap Version to display more detailed data about the robot's software version. • Tap Legal to display data about the robot's software license/s. Tap Close to return to your screen. User Manual UR30...
Page 202 16. 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 203 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. User Manual UR30...
Page 204 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. UR30 User Manual...
Page 205 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. User Manual UR30...
Page 206 • Likelihood of occurrence • Possibility to avoid the hazardous situation Potential Universal Robots identifies the potential significant hazards listed below for consideration hazards 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 207 One area (left) is defined for radial motions when the wrist 1 joint is at least 1650 mm from the base of the robot. The other area (right) is within 400 mm of the base of the robot, when moving tangentially. 17.2. Stopping Time and Stopping Distance User Manual UR30...
Page 208 Joint 0 (BASE) Stopping distance in meters for 33% of 30 kg Stopping distance in meters for 66% of 30 kg Stopping distance in meters for maximum payload of 30 kg UR30 User Manual...
Page 209 Stopping time in seconds for maximum payload of 30 kg Stopping time in seconds for expanded payload of 35 kg Joint 1 (SHOULDER) Stopping distance in meters for 33% of 30 kg Stopping distance in meters for 66% of 30 kg User Manual UR30...
Page 210 Stopping time in seconds for 33% of 30 kg Stopping time in seconds for 66% of 30 kg Stopping time in seconds for maximum payload of 30 kg In this specific test motion only 80% of the nominal maximum speed is achievable. UR30 User Manual...
Page 211 Stopping distance in meters for maximum payload of 30 kg Stopping distance in meters for expanded payload of 35 kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 30 kg Stopping time in seconds for 66% of 30 kg User Manual UR30...
Page 212 17. Risk Assessment Stopping time in seconds for maximum payload of 30 kg Stopping time in seconds for expanded payload of 35 kg UR30 User Manual...
Page 213 • Test the system connected to Robot Moving output, Robot Not Stopping output, Reduced Mode output, or Not Reduced Mode output to verify the output changes are detected. • Determine the commissioning requirements of your robot application. User Manual UR30...
Page 214 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 215 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 UR30...
Page 216 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 217 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 UR30...
Page 218 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 219 EU declarations. European directives are available on the official EU directives 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 220 21. Certificates 21. Certificates TÜV Rheinland UR30 User Manual...
Page 221 21. Certificates TÜV Rheinland North America User Manual UR30...
Page 222 铅 Hexavalent Polybrominated Mercury Cadmium Polybrominated Lead (Pb) Chromium diphenyl ethers (Hg) (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 ...
Page 223 21. Certificates KC Safety User Manual UR30...
Page 224 21. Certificates Registration UR30 User Manual...
Page 225 22. Safety Functions Table 22. Safety Functions Table 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 226 Exceeding the internal joint torque limit (each joint) results in a Cat 0 . This is not accessible Torque to the user; it is a factory setting. It is NOT shown as an e-Series safety function because Limit there are no user settings and no user configurations. UR30 User Manual...
Page 227 Force Limit SF, the robot will stop, then “back- limit. Will not off” to a position where the force limit was not allow motion to exceeded. Then it will stop again. exceed any limit settings. User Manual UR30...
Page 228 Interface) is used, the UR Robot Estop output is NOT connected to the IMMI. There is no Estop output signal sent sent from the UR robot to the IMMI.This is a feature to prevent an unrecoverable stop condition. UR30 User Manual...
Page 229 UR robot. The 1.8E- to logic Output integrated functional safety performance requires adding this and/or PFHd to the PFHd of the external logic (if any) and its equipment components. User Manual UR30...
Page 230 The safety function performs the same calculation of the stopping distance for the given motion(s) and initiates a cat 0 stop if stopping time limit will be or is exceeded. UR30 User Manual...
Page 231 It is recommended to use the UR Stop Time and Stop Distance Safety Functions. These limits should be used for your application stop time/ safety distance values. Robot stop was previously known as "Protective stop" for Universal Robots robots. User Manual UR30...
Page 232 Robot • “running mode”, the enabling device will not be active. Input to • “programming mode”, the enabling device will be active. It is possible to use password protection for changing the mode by the User Interface. UR30 User Manual...
Page 233 -rated the future, that “safety- stop monitored stop, see ISO 10218-2 and rated monitored stop” will ISO/TS 15066 as resumption shall not not be called a form of cause hazardous conditions. collaborative operation. User Manual UR30...
Page 234 UR robots but this is for guiding programming in manual mode and not • a 3-position enabling for collaborative operation in automatic device mode. • a safety-rated monitored stop function • a settable safety-rated monitored speed function UR30 User Manual...
Page 235 1) above 2. resume operation in the case of 2) above In the case of 2) 2), restarting operation after a safety -rated monitored stop, see ISO 10218-2 and ISO/TS 15066 for requirements. User Manual UR30...
Page 236 ONSET of pain, not pressures and forces caused by injury. See Annex A. See ISO/TR the end-effector and workpiece 20218-1 End-effectors. (s). UR30 User Manual...
Page 237 22. Safety Functions Table User Manual UR30...
Page 238 Software Name: PolyScope 5 Software Version: 5.20 10.9.31 Document Version:...

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