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Universal Robots UR5e PolyScope X User Manual
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Universal Robots UR5e PolyScope X User Manual

Universal Robots UR5e PolyScope X User Manual

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UR5e PolyScope X
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PolyScope X

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Summary of Contents for Universal Robots UR5e PolyScope X

  • Page 1: Safety Functions Table

    User Manual UR5e PolyScope X Original instructions (en) PolyScope X...

  • Page 2: Table

    UR5e PolyScope X User Manual...
  • Page 3 Universal Robots A/S. This document is periodically reviewed and revised. Universal Robots A/S assumes no responsibility for any errors or omissions in this document. Copyright © 2009–2024 by Universal Robots A/S. The Universal Robots logo is a registered trademark of Universal Robots A/S. User Manual UR5e PolyScope X...
  • Page 4 UR5e PolyScope X User Manual...

  • Page 5: Table Of Contents

    4.2. Controller I/O 4.3. Safety I/O 4.4. Three Position Enabling Device 4.5. General Purpose Digital I/O 4.6. General Purpose Analog I/O 4.7. Remote ON/OFF Control 4.8. Control Box Connection Ports 4.9. Ethernet 4.10. Mains Connections User Manual UR5e PolyScope X...
  • Page 6 17.4. Purpose of this Manual 18. Robot Arm Basics 18.1. Teach Pendant 18.1.1. Using the screen 19. Install the robot 19.1. Assembling the robot arm and Control Box 20. PolyScope X Overview 20.0.1. Screen Layout 20.0.2. Screen Combinations UR5e PolyScope X User Manual...
  • Page 7 22.2. Safety Configuration 22.3. Setting a Safety Password 22.4. Safety Menu Settings 22.4.1. Robot Limits 22.4.2. Safety I/O Signals 22.4.3. Safety Planes To restrict the elbow joint 23. Operational Mode 24. Application Tab 24.1. Communication 25. Glossary 25.1. Index User Manual UR5e PolyScope X...

  • Page 8: Preface

    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 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 UR5e PolyScope X...
  • 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: Part I Hardware Installation Manual

    Part I Hardware Installation Manual Part I Hardware Installation Manual User Manual UR5e PolyScope X...

  • Page 12: Safety

    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 13: Validity And Responsibility

    Any information provided in this manual must not be construed as a warranty, by UR, that the industrial robot will not cause injury or damage, even if the industrial robot complies with all safety instructions and information for use. User Manual UR5e PolyScope X...

  • Page 14: Safety Message Types

    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. UR5e PolyScope X User Manual...

  • Page 15: General Warnings And Cautions

    WARNING Handling tools/end effectors with sharp edges and/or pinch points can result in injury. • Make sure tools/end effectors have no sharp edges or pinch points. • Protective gloves and/or protective eyeglasses could be required. User Manual UR5e PolyScope X...
  • Page 16 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. UR5e PolyScope X User Manual...

  • Page 17: Intended Use

    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 18 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 19 • Your application risk assessment shall include the risks associated with the application's reach, motion, payload and speed of the robot, end effector and workpiece. User Manual UR5e PolyScope X...

  • Page 20: Risk Assessment

    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. UR5e PolyScope X User Manual...
  • Page 21 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 UR5e PolyScope X...
  • Page 22 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 23: Pre-Use Assessment

    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 UR5e PolyScope X...

  • Page 24: Emergency Stop

    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. UR5e PolyScope X User Manual...

  • Page 25: Movement Without Drive Power

    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. User Manual UR5e PolyScope X...

  • Page 26: Safety-Related Functions And Interfaces

    2.10. 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 27 *Stop the robot with power available to the drives, while maintaining the trajectory. Drive power is maintained after the robot is stopped. *Universal Robots robots’ Category 2 stops are further described as SS1 or as SS2 type stops according to IEC 61800-5-2.

  • Page 28: Configurable Safety Functions

    2.10.2. 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 29 (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. User Manual UR5e PolyScope X...
  • Page 30 450 mm from the base of the robot. The other area (right) is within 200 mm of the base of the robot, when moving tangentially. Placing the robot in certain areas can create pinching hazards that can lead to injury. UR5e PolyScope X User Manual...
  • Page 31 Manual mode when input is high. Automatic Mode Returns from the Automatic Mode Safeguard Stop state, when a Safeguard rising edge on the Automatic Mode Safeguard Reset input occurs. Reset User Manual UR5e PolyScope X...

  • Page 32: Safety Functions

    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. UR5e PolyScope X User Manual...

  • Page 33: Safety Parameter Set

    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. User Manual UR5e PolyScope X...
  • Page 34 • 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. UR5e PolyScope X User Manual...

  • Page 35: Modes

    • 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. User Manual UR5e PolyScope X...

  • Page 36: Mechanical Interface

    Moving the tool close to the cylindrical volume can cause the joints to move too fast, leading to loss of functionality and damage to property. • Do not move the tool close to the cylindrical volume, even when the tool is moving slowly. UR5e PolyScope X User Manual...

  • Page 37: Mounting Description

    3. Mechanical Interface Workspace The cylindrical volume is both directly above and directly below the robot base. The robot extends 850 mm from the base joint. Front Tilted 3.2. Mounting Description User Manual UR5e PolyScope X...
  • Page 38 Mount the robot in an environment suited to the IP rating. The robot must not be operated in environments that exceed those corresponding to the IP ratings of the robot (IP54), Teach Pendant (IP54) and Control Box (IP44) UR5e PolyScope X User Manual...
  • Page 39 3. Mechanical Interface WARNING Unstable mounting can lead to accidents. • Always make sure the robot parts are properly and securely mounted and bolted in place. User Manual UR5e PolyScope X...

  • Page 40: Securing The Robot Arm

    DRAWING IS THE SOLE PROPERTY OF UNIVERSAL ROBOTS. ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF UNIVERSAL ROBOTS IS PROHIBITED Replace drawing: Place the robot arm on the surface on which it is to be To secure the mounted.
  • Page 41 : 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. User Manual UR5e PolyScope X...
  • Page 42 The normal operating loads can generally be reduced by lowering the acceleration limits of the joints. Actual operating loads are dependent on the application and robot program. You can use URSim to evaluate the expected loads in your specific application. UR5e PolyScope X User Manual...
  • Page 43 The robot arm's operational loads may cause movable platforms, such as tables or mobile robots, to tip over, resulting in possible accidents. • Prioritize safety by implementing adequate measures to prevent the tipping of movable platforms at all times. User Manual UR5e PolyScope X...

  • Page 44: Securing Tool

    • Ensure the tool is properly and securely bolted in place. • Ensure the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly. 3.5. Control Box Clearance UR5e PolyScope X User Manual...
  • Page 45 A wet Control Box can cause fatal injury. • Make sure the Control Box and cables do not come into contact with liquids. • Place the Control Box (IP44) in an environment suited for the IP rating. User Manual UR5e PolyScope X...

  • Page 46: Maximum Payload

    PolyScope (see:Set Payload): • Payload mass • Center of gravity • Inertia You can use the URSim to evaluate the accelerations and cycle times of the robot motions with a specific payload. UR5e PolyScope X User Manual...

  • Page 47: Electrical Interface

    I/O interface signals. • All safety-related signals shall be constructed redundantly (two independent channels). • Keep the two independent channels separate so a single fault cannot lead to loss of the safety function. User Manual UR5e PolyScope X...
  • 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: Controller I/O

    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. User Manual UR5e PolyScope X...
  • Page 50 Terminals Parameter Unit Internal 24V power supply Voltage [PWR - GND] [PWR - GND] Current External 24V input requirements [24V - 0V] Voltage Current [24V - 0V] *3.5A for 500ms or 33% duty cycle. UR5e PolyScope X User Manual...

  • Page 51: Safety I/O

    However, the safety I/O must be kept as two separate branches. The permanent safety input types are: • Robot Emergency Stop for emergency stop equipment only • Safeguard Stop for protective devices • 3PE Stop for protective devices User Manual UR5e PolyScope X...
  • Page 52 All configured and permanent safety inputs are filtered to allow the use of OSSD safety equipment with pulse lengths under 3ms. The safety input is sampled every millisecond and the state of the input is determined by the most frequently seen input signal over the last 7 milliseconds. UR5e PolyScope X User Manual...
  • Page 53 Safety Connecting Most applications require one or more extra emergency stop buttons. The illustration emergency stop below shows how one or more emergency stop buttons can be connected. buttons Safety Safety User Manual UR5e PolyScope X...
  • Page 54 In this example a safety mat is a safety device basic safeguard device where the where automatic resume is appropriate. This robot is stopped when the door is example is also valid for a safety laser scanner. opened. UR5e PolyScope X User Manual...
  • Page 55 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. Safety Configurable7Inputs `final User Manual UR5e PolyScope X...

  • Page 56: Three Position Enabling Device

    The UR robot safety system does not support multiple external Three-Position Enabling Devices. Operational Using a Three-Position Enabling device requires the use of an Operational Mode Mode Switch switch. The illustration below shows an Operational Mode switch. Configurable Inputs Operational mode Switch UR5e PolyScope X User Manual...

  • Page 57: General Purpose Digital I/O

    You can use the digital I/O to communicate with other equipment if a common GND with other (0V) is established and if the machine uses PNP technology, see below. machines or PLCs Digital Inputs Digital Outputs Digital Inputs Digital Outputs User Manual UR5e PolyScope X...

  • Page 58: General Purpose Analog I/O

    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 UR5e PolyScope X User Manual...

  • Page 59: Remote On/Off Control

    The electrical specifications are shown below. Terminals Parameter Unit [12V - GND] Voltage [12V - GND] Current [ON / OFF] Inactive voltage [ON / OFF] Active voltage [ON / OFF] Input current [ON] Activation time User Manual UR5e PolyScope X...
  • Page 60 Do not press and hold the ON input or the POWER button without saving. • Use the OFF input for remote off control to allow the Control Box to save open files and shut down correctly. UR5e PolyScope X User Manual...

  • Page 61: Control Box Connection Ports

    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. 4.9. Ethernet User Manual UR5e PolyScope X...

  • Page 62: Mains Connections

    (3.1.12) locations.” • IEC 61000-6-4:Chapter 3.1.12 industrial location: “Locations characterized by a separate power network, supplied from a high- or medium-voltage transformer, dedicated for the supply of the installation” UR5e PolyScope X User Manual...
  • Page 63 The electrical specifications are shown in the table below. Parameter Unit Input voltage External mains fuse (90- 200V) 151515 External mains fuse (200-264V) Input frequency Stand-by power <1.5 Nominal operating power 250250300300 500500750750 User Manual UR5e PolyScope X...

  • Page 64: Robot Connections: Robot Cable

    Ensure all cables are connected correctly before the Control Box is powered. Always use the original power cord. 4.11. Robot Connections: Robot Cable Description This subsection describes the connection for a robot arm configured with a fixed 6 meter Robot Cable. UR5e PolyScope X User Manual...
  • Page 65 Improper robot connection can result in loss of power to the robot arm. • Do not disconnect the Robot Cable when the robot arm is turned on. • Do not extend or modify the original Robot Cable. User Manual UR5e PolyScope X...

  • Page 66: Robot Connections: Base Flange Cable

    Do not extend a 6 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. UR5e PolyScope X User Manual...

  • Page 67: Tool I/O

    Digital Outputs 0 or 0V/12V/24V Pink TO1/GND Digital Outputs 1 or Ground Yellow Digital Inputs 0 Green Digital Inputs 1 White AI2 / RS485+ Analog in 2 or RS485+ Brown AI3 / RS485- Analog in 3 or RS485- User Manual UR5e PolyScope X...
  • Page 68 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the capacitive load is not allowed. NOTICE The tool flange is connected to GND (same as the red wire). UR5e PolyScope X User Manual...

  • Page 69: Tool Power Supply

    Connect the wires Power (gray) to TO0 (blue) and Ground (red) to TO1 (pink). NOTICE Once the robot makes an Emergency Stop, the voltage is set to 0V for both Power Pins (power is off). User Manual UR5e PolyScope X...

  • Page 70: Tool Digital Outputs

    The output voltage at the I/O tab must be define. There is voltage between the POWER connection and the shield/ground, even when the load is turned off. POWER It is recommended to use a protective diode for inductive loads, as shown below. POWER UR5e PolyScope X User Manual...

  • Page 71: Tool Digital Inputs

    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. User Manual UR5e PolyScope X...

  • Page 72: Tool Communication I/O

    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 UR5e PolyScope X User Manual...

  • Page 73: Transportation

    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: Transport Without Packaging

    Secure any attached end effector rigidly in 3 axes. Transport Fold the robot as much as possible. Do not transport extended. (singularity position) Secure the tubes to a solid surface. Secure attached end effector in 3 axes. UR5e PolyScope X User Manual...

  • Page 75: Maintenance And Repair

    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: Robot Arm Cleaning And Inspection

    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. UR5e PolyScope X User Manual...
  • Page 77 • Contact with children and animals is prohibited. Description NOTICE Using compressed air to clean the robot arm can damage the robot arm components. • Never use compressed air to clean the robot arm. User Manual UR5e PolyScope X...
  • Page 78 • Replace the blue lids if they are cracked or damaged. 7. Inspect the screws used to secure the blue lids. NOTICE If any damage is observed on a robot within the warranty period, contact the distributor where the robot was purchased. UR5e PolyScope X User Manual...
  • Page 79 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. User Manual UR5e PolyScope X...

  • Page 80: Disposal And Environment

    8. Disposal and Environment 8. 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 81 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 UR5e PolyScope X...

  • Page 82: Certifications

    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 83 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 84: Stopping Time And Stopping Distance

    The Y-axis is the distance from where the stop is initiated to the final position. The payload CoG is at the tool flange. Joint 0 (BASE) Stopping distance in meters for 33% of 5kg Stopping distance in meters for 66% of 5kg UR5e PolyScope X User Manual...
  • Page 85 5kg Joint 0 (BASE) Stopping time in seconds for 33% of 5kg Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg User Manual UR5e PolyScope X...
  • Page 86 Stopping distance in meters for 33% of 5kg Stopping distance in meters for 66% of 5kg Stopping distance in meters for maximum payload of 5kg Joint 1 (SHOULDER) Stopping time in seconds for 33% of 5kg UR5e PolyScope X User Manual...
  • Page 87 Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 5kg Stopping distance in meters for 66% of 5kg User Manual UR5e PolyScope X...
  • Page 88 Stopping distance in meters maximum payload of 5kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 5kg Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg UR5e PolyScope X User Manual...

  • Page 89: Declarations And Certificates (Original En)

     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 90 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. UR5e PolyScope X User Manual...

  • Page 91: Warranty Information

    Universal Robots A/S takes every care to ensure the content of the User Manual/s is precise and correct, but takes no responsibility for any errors or missing information. This manual does not contain warranty information. User Manual UR5e PolyScope X...

  • Page 92: Certificates

    13. Certificates 13. Certificates TÜV Rheinland UR5e PolyScope X User Manual...
  • Page 93 Polybrominated  biphenyls (PBB) diphenyl ethers  (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 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 Refer to product manual for detailed conditions of use.  详细使用情况请阅读产品手册. To the maximum extent permitted by law, Customer shall be solely responsible for complying with, and shall otherwise assume all liabilities that  may be imposed in connection with, any legal requirements adopted by any governmental authority related to the Management Methods for  Controlling Pollution by Electronic Information Products (Ministry of Information Industry Order #39) of the Peoples Republic of China otherwise  encouraging the recycle and use of electronic information products.  Customer shall defend, indemnify and hold Universal Robots harmless from  any damage, claim or liability relating thereto.  At the time Customer desires to dispose of the Products, Customer shall refer to and comply with  the specific waste management instructions and options set forth  at www.universal‐robots.com/about‐universal‐robots/social‐responsibility and  www.teradyne.com/company/corporate‐social‐responsibility, as the same may be amended by Teradyne or Universal Robots.   User Manual UR5e PolyScope X...
  • Page 94 13. Certificates KC Safety UR5e PolyScope X User Manual...
  • Page 95 13. Certificates KC Registration User Manual UR5e PolyScope X...
  • Page 96 Andreas Wendelboe Højsgaard M.Sc.Eng. DELTA – a part of FORCE Technology - Venlighedsvej 4 - 2970 Hørsholm - Denmark - Tel. +45 72 19 40 00 - Fax +45 72 19 40 01 - www.delta.dk UR5e PolyScope X User Manual...

  • Page 97: Applied Standards

    UR robots comply with the relevant requirements in the applied standards. Applicable test reports and certifications included in this manual and the standards are listed in the Declaration of Incorporation. The standards applicable to this manual are listed in the table below: User Manual UR5e PolyScope X...
  • Page 98 ISO 10218-2 has – Safety the safety requirements requirements for industrial associated with robots Part 1: the robot system, Robots application and cell. It deals with the design and integration of the robot application. UR5e PolyScope X User Manual...
  • Page 99 English to – Safety American Requirements English, but the technical contents are the same. Part 2 of this standard is intended for the integrator of the robot system / robot application, and not Universal Robots. User Manual UR5e PolyScope X...
  • Page 100 Robots and CSA added Robot Systems User to clauses – General Safety within Part 2. Requirements Part 2 of this standard is intended for the integrator of the robot system/ robot application, and not Universal Robots. UR5e PolyScope X User Manual...
  • Page 101 IEC 61131-2 Clause Description Both standard and safety-rated 24V Programmable I/Os comply with controllers Part the requirements of 2: Equipment this standard to requirements ensure reliable and tests communication with other PLC systems. User Manual UR5e PolyScope X...
  • Page 102 IEC 60947-5-5 Clause Description Low-voltage switchgear and controlgear Part 5-5: Control circuit devices and switching elements - Electrical emergency stop device with mechanical latching function UR5e PolyScope X User Manual...
  • Page 103 Manipulating Robot tools industrial (end-effectors) robots – should also be Mechanical constructed interfaces Part according to 1: Plates the same type to ensure proper fitting to the mechanical interface of the specific UR robot. User Manual UR5e PolyScope X...
  • Page 104 Tests - Test Ea and guidance: Shock Part 2-64: Tests - Test Fh: Vibration, broadband random and guidance IEC -61784-3 Clause Description Industrial communication networks – Profiles Part 3: Functional safety fieldbuses – General rules and profile definitions UR5e PolyScope X User Manual...
  • Page 105 2 mm EUROMAP  Clause Description 67:2015, V1.11 Electrical The E67 Interface accessory between module, that Injection interfaces with Molding injection Machine molding machines, Handling complies with Device / this standard. Robot User Manual UR5e PolyScope X...

  • Page 106: Technical Specifications Ur5E

    Standard (PVC) 6 m/236 in x 13.4 mm Robot Cable: Robot Arm to Control Box Standard (PVC) 12 m/472.4 in x 13.4 mm (options) Hiflex (PUR) 6 m/236 in x 12.1 mm Hiflex (PUR) 12 m/472.4 in x 12.1 mm UR5e PolyScope X User Manual...

  • Page 107: Safety Functions Table

    16. Safety Functions Table 1 16. 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 108 It is limit. A robot set in the safety setup part of the stop will be User Interface. Used to limit fast initiated to joint movements, e.g. risks related prevent to singularities. exceeding any limit. UR5e PolyScope X User Manual...
  • Page 109 Tol:50 mm/s speed to limit. A robot stop will be initiated to : 1.8E- prevent prevent exceeding any limit. Will not exceeding a allow motion to exceed any limit speed limit. settings. User Manual UR5e PolyScope X...
  • Page 110 Tol: 10W robot, which also affects the current to :1.8E- limiting of the Robot the robot arm as well as the robot current/torque speed. This safety function dynamically limits the current/ torque but maintains the speed. UR5e PolyScope X User Manual...
  • Page 111 UR robot. The integrated functional digital and/or outputs are safety performance requires adding equipment LOW. this PFHd to the PFHd of the external logic (if any) and its components. • Outputs are HIGH when movement. User Manual UR5e PolyScope X...
  • Page 112 LOW. The functional safety rating is for what is within the 1.8E- to logic UR robot. The integrated functional safety performance and/or requires adding this PFHd to the PFHd of the external logic equipment (if any) and its components. UR5e PolyScope X User Manual...
  • Page 113 The safety function performs the same limit 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. User Manual UR5e PolyScope X...
  • Page 114 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. UR5e PolyScope X User Manual...
  • Page 115 Input to • “running mode”, the enabling device will not be active. • “programming mode”, the enabling device will be active. It is possible to use password protection for changing the mode by the User Interface. User Manual UR5e PolyScope X...

  • Page 116: Table

    -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. UR5e PolyScope X User Manual...
  • Page 117 UR robots but this is for guiding programming in manual mode and not • a 3-position enabling for collaborative operation in device automatic mode. • a safety-rated monitored stop function • a settable safety-rated monitored speed function User Manual UR5e PolyScope X...
  • Page 118 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. UR5e PolyScope X User Manual...
  • Page 119 The study performed evaluated application to thereby lessen pressures to the ONSET of pain, pressures and forces caused not injury. See Annex A. See by the end-effector and ISO/TR 20218-1 End-effectors. workpiece(s). User Manual UR5e PolyScope X...
  • Page 120 16. Safety Functions Table 1 UR5e PolyScope X User Manual...
  • Page 121 User Manual UR5e PolyScope X...

  • Page 122: Part Ii Polyscope X Software Manual

    Part II PolyScope X Software Manual Part II PolyScope X Software Manual UR5e PolyScope X User Manual...
  • Page 123 User Manual PolyScope X Original instructions (en) SW 10.7...
  • Page 124 UR5e PolyScope X User Manual...
  • Page 125 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 UR5e PolyScope X...
  • Page 126 UR5e PolyScope X User Manual...
  • Page 127 4.2. Controller I/O 4.3. Safety I/O 4.4. Three Position Enabling Device 4.5. General Purpose Digital I/O 4.6. General Purpose Analog I/O 4.7. Remote ON/OFF Control 4.8. Control Box Connection Ports 4.9. Ethernet 4.10. Mains Connections User Manual UR5e PolyScope X...
  • Page 128 17.4. Purpose of this Manual 18. Robot Arm Basics 18.1. Teach Pendant 18.1.1. Using the screen 19. Install the robot 19.1. Assembling the robot arm and Control Box 20. PolyScope X Overview 20.0.1. Screen Layout 20.0.2. Screen Combinations UR5e PolyScope X User Manual...
  • Page 129 22.2. Safety Configuration 22.3. Setting a Safety Password 22.4. Safety Menu Settings 22.4.1. Robot Limits 22.4.2. Safety I/O Signals 22.4.3. Safety Planes To restrict the elbow joint 23. Operational Mode 24. Application Tab 24.1. Communication 25. Glossary 25.1. Index User Manual UR5e PolyScope X...

  • Page 130: Preface

    17. 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 131: What Do The Boxes Contain

    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 132: Purpose Of This Manual

    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. UR5e PolyScope X User Manual...

  • Page 133: Robot Arm Basics

    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 UR5e PolyScope X...

  • Page 134: Install The Robot

    Place the Control Box on its Foot. Connect the robot cable to the robot arm and the Control Box. Plug in the main/power cable of the control box. Press the power button on the Teach Pendant to turn on the robot. UR5e PolyScope X User Manual...

  • Page 135: Polyscope X Overview

    • Main screen - with fields and options to manage and monitor robot actions. • Multitask screen - with fields and options often relating to the main screen. User Manual UR5e PolyScope X...

  • Page 136: Touch Screen

    "tap". A commercially available stylus may be used to make selections on the screen if desired. The following section lists and defines the icons/tabs and buttons in the Polyscope X interface. The following section lists and defines the icons/tabs and buttons in the Polyscope X interface. UR5e PolyScope X User Manual...

  • Page 137: Icons

    Displays information about the robot To configure settings about the software, eg Settings language and units Shutdown To shutdown the robot Displays the active safety checksum and Safety Checksum detailed parameters Footer Buttons Icon Title Description User Manual UR5e PolyScope X...
  • Page 138 Play Starts the current loaded program. Step Allows a program to be run single-stepped Stop Halts the current loaded program Manages the robot state. When RED, press it Speed slider to make the robot operational UR5e PolyScope X User Manual...

  • Page 139: Initialize

    In the Payload field, in Active Payload, verify the payload mass. You can also verify the mounting position is correct, in the Robot graphic. Tap the UNLOCK button, for the robot to release its brake system. The robot vibrates and makes clicking sounds indicating it is ready to be programmed User Manual UR5e PolyScope X...

  • Page 140: Safety

    For Old Password, type the current Safety password. For New Password, type a password. For Repeat Password, type the same password and tap Change Password. In the top right of the menu, press CLOSE to return to previous screen. UR5e PolyScope X User Manual...

  • Page 141: Safety Menu Settings

    NOTICE Restricting stopping time and distance affect overall robot speed. For example, if stopping time is set to 300 ms, the maximum robot speed is limited allowing the robot to stop within 300 ms. User Manual UR5e PolyScope X...

  • Page 142: Safety I/O Signals

    The I/O are divided between inputs and outputs and are paired up so that each function provides a Category 3 and PLd I/O. Figure 2.4:   PolyScope X screen displaying the Inpu signals. Robot stop was previously known as "Protective stop" for Universal Robots. UR5e PolyScope X User Manual...
  • Page 143 Disabling the default Safeguard Reset input deactivates the Safeguard Stop when the input is high. As a result any program that was paused using the Safeguard Stop will resume. This renders the robot arm unsafe. • Do not disable default Safeguard Reset. User Manual UR5e PolyScope X...

  • Page 144: Safety Planes

    Defining safety planes only limits the defined Tool spheres and elbow, not the overall limit for the robot arm. Defining safety planes does not guarantee that other parts of the robot arm will obey this type of restriction. Figure 2.5:   PolyScope X screen displaying safety planes. UR5e PolyScope X User Manual...

  • Page 145: To Restrict The Elbow Joint

    Tool or Elbow is positioned beyond it. Elbow Joint Restriction You can prevent the robot elbow joint from passing through any of your defined planes. To restrict the elbow joint Disable Restrict Elbow for elbow to pass through planes. User Manual UR5e PolyScope X...

  • Page 146: Operational Mode

    Configure the Operational Mode Input. The option to configure appears in the drop-down menu. The robot is in Automatic Mode when the Operational Mode Input is low. The robot is in Manual Mode when the Operational Mode Input is high. UR5e PolyScope X User Manual...
  • Page 147 Automatic indicates the operational mode of the robot is set to Automatic. • Manual indicates the operational mode of the robot is set to Manual. PolyScope X is automatically in Manual Mode when the Safety I/O configuration with Three-Position Enabling Device is enabled. User Manual UR5e PolyScope X...

  • Page 148: Application Tab

    Those which are reserved will have the name of the safety function in place of the default or user defined name. Configurable outputs reserved for safety settings cannot be selected, they are displayed as LEDs only. UR5e PolyScope X User Manual...
  • Page 149 Figure 2.7:   Communication screen displaying I/Os. Software Name: PolyScope X Software Version: 10.7 Document Version: User Manual UR5e PolyScope X...

  • Page 150: Glossary

    The term collaborative refers to collaboration between operator and robot in a robot application. See precise definitions and descriptions in ISO 10218-1 and ISO 10218-2. Safety configuration Safety-related functions and interfaces are configurable through safety configuration parameters. These are defined through the software interface, see part . UR5e PolyScope X User Manual...

  • Page 151: Index

    Base 84, 133 bla 135 Configurable I/O 50 Control Box 8, 38, 47, 49, 59, 62-63, 97, 131 Conveyor Tracking 49 Elbow 84, 133 Ethernet 62 EtherNet/IP 62 Freedrive 34-35 General purpose I/O 50 I/O 47, 50 User Manual UR5e PolyScope X...
  • Page 152 Reduced mode 142-144 risk assessment 8, 13, 24, 28, 131 robot arm 47, 132-133 Robot arm 97 robot cable 65-66 Robot Moving 144 Robot Not Stopping 144 Safeguard Reset 143 Safety Configuration 21 Safety functions 26, 28 UR5e PolyScope X User Manual...
  • Page 153 System Emergency Stop 144 Teach Pendant 8, 38, 59, 97, 131 Tool Center Point 142 Tool Flange 133 Tool I/O 67 Trigger Reduced Plane 33 UR Forum 10 UR+ 10 UR+ Partner Program 10 Wrist 133 User Manual UR5e PolyScope X...
  • Page 154 UR5e PolyScope X User Manual...
  • Page 155 UR5e PolyScope X User Manual...
  • Page 156 Software Name: PolyScope X Software Version: 10.7 Document Version:...