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Universal Robots UR30 PolyScope X User Manual
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Universal Robots UR30 PolyScope X User Manual

Universal Robots UR30 PolyScope X User Manual

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UR30 PolyScope X
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PolyScope X

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Summary of Contents for Universal Robots UR30 PolyScope X

  • Page 1 User Manual UR30 PolyScope X Original instructions (en) PolyScope X...
  • Page 2 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. UR30 PolyScope X User Manual...
  • Page 3 6. Mechanical Interface 6.1. Workspace and Operating Space 6.2. Mounting Description 6.3. Securing the Robot Arm 6.4. Securing the Tool 6.5. Control Box Clearance 6.6. Maximum Payload 7. Electrical Interface 7.1. Electrical Warnings and Cautions 7.2. Controller I/O User Manual UR30 PolyScope X...
  • Page 4 19. Safety Functions Tables 19.1. Table 1a 19.2. Table 2 Part II Software Manual 20. Preface 20.1. What Do the Boxes Contain 20.2. Important Safety Notice 20.3. How to Read this Manual 20.4. Purpose of this Manual UR30 PolyScope X User Manual...
  • Page 5 25.2. Safety Configuration 25.3. Setting a Safety Password 25.4. Safety Menu Settings 25.4.1. Robot Limits 25.4.2. Safety I/O Signals 25.4.3. Safety Planes To restrict the elbow joint 26. Operational Mode 27. Application Tab 27.1. Communication 28. Glossary 28.1. Index User Manual UR30 PolyScope X...
  • Page 6 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 7 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 PolyScope X...
  • Page 8 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 9 Part I Hardware Installation Manual Part I Hardware Installation Manual User Manual UR30 PolyScope X...
  • Page 10 Part I Hardware Installation Manual UR30 PolyScope X User Manual...
  • Page 11 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 12 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. UR30 PolyScope X User Manual...
  • Page 13 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 PolyScope X...
  • Page 14 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 PolyScope X User Manual...
  • Page 15 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 PolyScope X...
  • Page 16 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 17 • 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 18 2. Safety UR30 PolyScope X User Manual...
  • Page 19 A part of the risk assessment is to determine the safety configuration settings, as well as the need for additional emergency stops and/or other protective measures required for the specific robot application. User Manual UR30 PolyScope X...
  • Page 20 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. UR30 PolyScope X User Manual...
  • Page 21 • 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 22 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. UR30 PolyScope X User Manual...
  • Page 23 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 PolyScope X...
  • Page 24 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 PolyScope X User Manual...
  • Page 25 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 26 *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 27 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 28 (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. UR30 PolyScope X User Manual...
  • Page 29 1 joint is at least 450 mm from the base of the robot. The other area (right) is within 200 mm of the base of the robot, when moving tangentially. Placing the robot in certain areas can create pinching hazards that can lead to injury. User Manual UR30 PolyScope X...
  • Page 30 Mode when input is low, Manual mode when input is high. Automatic Mode Returns from the Automatic Mode Safeguard Stop state, when a rising edge Safeguard on the Automatic Mode Safeguard Reset input occurs. Reset UR30 PolyScope X User Manual...
  • Page 31 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 PolyScope X...
  • Page 32 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 PolyScope X User Manual...
  • Page 33 • 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. User Manual UR30 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. UR30 PolyScope X User Manual...
  • Page 35 3. Lifting and Handling 3. Lifting and Handling User Manual UR30 PolyScope X...
  • Page 36 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 PolyScope X User Manual...
  • Page 37 Carefully examine the sling visually before each use. • Do not use the sling if it is cracked, ripped, or the stitching is loose. • Do not use the sling if there are signs of heat damage. User Manual UR30 PolyScope X...
  • Page 38 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 PolyScope X User Manual...
  • Page 39 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 User Manual UR30 PolyScope X...
  • Page 40 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 UR30 PolyScope X User Manual...
  • Page 41 3PE Teach Pendant when programming, or teaching, within the reach of the robot application. See ISO 10218-2. Power button Overview of Emergency Stop button USB port (comes with a dust cover) 3PE buttons User Manual UR30 PolyScope X...
  • Page 42 Manual mode. lightly) point. 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. UR30 PolyScope X User Manual...
  • Page 43 Rapidly light-press, release, light-press again and keep holding the 3PE button in 3PE button to this position. freedrive the Now you can pull the robot arm into a desired position, while the light-press is robot arm maintained. 5.2.2. Using Move Robot into Position User Manual UR30 PolyScope X...
  • Page 44 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. UR30 PolyScope X User Manual...
  • Page 45 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. User Manual UR30 PolyScope X...
  • Page 46 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) UR30 PolyScope X User Manual...
  • Page 47 6. 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 UR30 PolyScope X...
  • Page 48 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 Holes for mounting the robot, and where to drill holes and mount the screws. UR30 PolyScope X User Manual...
  • Page 49 (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 PolyScope X...
  • Page 50 : 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 PolyScope X User Manual...
  • Page 51 The robot arm's operational loads can 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 UR30 PolyScope X...
  • Page 52 Tool Flange The tool flange can require an accessory element to facilitate connection with tools. Accessories Depending on the tool, you can use the following tool flange accessories: Tool Cable Adapter (see 6.4 Securing the Tool above). UR30 PolyScope X User Manual...
  • Page 53 6. Mechanical Interface User Manual UR30 PolyScope X...
  • Page 54 The robot's capacity to accelerate can be reduced if the payload CoG exceeds the robot's reach and payload. You can verify the reach and payload of your robot in the Technical Specifications. UR30 PolyScope X User Manual...
  • Page 55 6. Mechanical Interface Payload [kg] expanded payload full performance Center of gravity offset [mm] The relationship between the rated payload and the center of gravity offset. User Manual UR30 PolyScope X...
  • Page 56 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. UR30 PolyScope X User Manual...
  • Page 57 The controller software automatically adjusts accelerations when the following parameters inertia are correclty configured: • Payload mass • Center of gravity • Inertia You can use the URSim to evaluate the accelerations and cycle times of the robot motions with a specific payload. User Manual UR30 PolyScope X...
  • Page 58 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. UR30 PolyScope X User Manual...
  • Page 59 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 60 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 PolyScope X User Manual...
  • Page 61 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 PolyScope X...
  • Page 62 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 UR30 PolyScope X User Manual...
  • Page 63 All configured and permanent safety inputs are filtered to allow the use of OSSD safety signals 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. User Manual UR30 PolyScope X...
  • Page 64 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 PolyScope X User Manual...
  • Page 65 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 PolyScope X...
  • Page 66 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 PolyScope X User Manual...
  • Page 67 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 PolyScope X...
  • Page 68 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 UR30 PolyScope X User Manual...
  • Page 69 Analog Output in current mode Current [AOx - AG] Voltage [AOx - AG] [AOx - AG] Resolution Analog Output in voltage mode [AOx - AG] Voltage [AOx - AG] Current [AOx - AG] Resistance [AOx - AG] Resolution User Manual UR30 PolyScope X...
  • Page 70 Inactive voltage [ON / OFF] [ON / OFF] Active voltage Input current [ON / OFF] [ON] Activation time Remote Remote This example illustrates connecting a remote This example illustrates connecting a remote ON button. OFF button. UR30 PolyScope X User Manual...
  • Page 71 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. User Manual UR30 PolyScope X...
  • Page 72 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. 7.9. Ethernet UR30 PolyScope X User Manual...
  • Page 73 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 User Manual UR30 PolyScope X...
  • Page 74 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 UR30 PolyScope X User Manual...
  • Page 75 (see illustration below). Twist the connector twice to ensure it is properly locked before turning on the robot arm. You can turn the connector to the right to make it easier to lock after the cable is plugged in. User Manual UR30 PolyScope X...
  • Page 76 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 PolyScope X User Manual...
  • Page 77 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 PolyScope X...
  • Page 78 The 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 PolyScope X User Manual...
  • Page 79 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). User Manual UR30 PolyScope X...
  • Page 80 *** 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. 7.15. Tool Power Supply Description Access Tool I/O in the Installation Tab UR30 PolyScope X User Manual...
  • Page 81 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 UR30 PolyScope X...
  • Page 82 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 UR30 PolyScope X User Manual...
  • Page 83 Ω Resolution Input voltage in current mode -0.5 Input current in current mode -2.5 Input resistance @ range 4mA to 20mA Ω Resolution Two examples of using Analog Input are shown in the following subsections. User Manual UR30 PolyScope X...
  • Page 84 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 UR30 PolyScope X User Manual...
  • Page 85 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 86 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. UR30 PolyScope X User Manual...
  • Page 87 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 88 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. UR30 PolyScope X User Manual...
  • Page 89 • 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 90 10. Robot Arm Cleaning and Inspection 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. UR30 PolyScope X User Manual...
  • Page 91 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 UR30 PolyScope X...
  • Page 92 11. 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 93 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 PolyScope X...
  • Page 94 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 95 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 96 If user-defined settings are used, the program speed is dynamically adjusted to always comply with the selected limits. Joint 0 (BASE) Stopping distance in meters for 33% of 30 kg Stopping distance in meters for 66% of 30 kg UR30 PolyScope X User Manual...
  • Page 97 30 kg Joint 0 (BASE) 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 User Manual UR30 PolyScope X...
  • Page 98 66% of 30 kg Stopping distance in meters for maximum payload of 30 kg In this specific test motion only 80% of the nominal maximum speed is achievable. Joint 1 (SHOULDER) Stopping time in seconds for 33% of 30 kg UR30 PolyScope X User Manual...
  • Page 99 30 kg In this specific test motion only 80% of the nominal maximum speed is achievable. Joint 2 (ELBOW) Stopping distance in meters for 33% of 30 kg Stopping distance in meters for 66% of 30 kg User Manual UR30 PolyScope X...
  • Page 100 30 kg Joint 2 (ELBOW) 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 UR30 PolyScope X User Manual...
  • Page 101 Sequential numbering, restarting at 0 each year NOTE: This DOI is not applicable when the OEM Controller is used Universal Robots UR20 and UR30 shall only be put into service upon being integrated into a final complete machine (robot application or robot cell),...
  • Page 102 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. UR30 PolyScope X User Manual...
  • Page 103 14. Declarations and Certificates User Manual UR30 PolyScope X...
  • Page 104 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. UR30 PolyScope X User Manual...
  • Page 105 16. Certificates 16. Certificates TÜV Rheinland User Manual UR30 PolyScope X...
  • Page 106 16. Certificates TÜV Rheinland North America UR30 PolyScope X User Manual...
  • Page 107 (Cd) biphenyls (PBB) (Cr+6) (PBDE) UR Robots 机器人：基本系统 UR3 / UR5 / UR10 /  UR3e / UR5e /  UR10e   UR16e /  UR20 / UR30 O: Indicates that this toxic or hazardous substance contained in all of the homogeneous materials for this part is below the limit  requirement in SJ/T11363‐2006. O: 表示该有毒有害物质在该部件所有均质材料中的含量均在SJ/T 11363‐2006规定的限量要求以下。  X: Indicates that this toxic or hazardous substance contained in at least one of the homogeneous materials used for this part is above  the limit requirement in SJ/T11363‐2006.  X: 表示该有毒有害物质至少在该部件的某一均质材料中的含量超出SJ/T 11363‐2006规定的限量要求。 （企业可在此处，根据实际情况对上表中打“X”的技术原因进行进一步说明。） Items below are wear‐out items and therefore can have useful lives less than environmental use period:     下列项目是损耗品,因而它们的有用环境寿命可能短于基本系统和可选项目的使用时间: Drives, Gaskets, Probes, Filters, Pins, Cables, Stiffener, Interfaces 电子驱动器,  垫圈, 探针, 过滤器, 别针, 缆绳, 加强筋, 接口 Refer to product manual for detailed conditions of use.  详细使用情况请阅读产品手册. Universal Robots encourages that all Electronic Information Products be recycled but does not assume responsibility or liability.  Universal Robots 鼓励回收再循环利用所有的电子信息产品, 但 Universal Robots 不负任何责任或义务 To the maximum extent permitted by law, Customer shall be solely responsible for complying with, and shall otherwise assume all liabilities that  may be imposed in connection with, any legal requirements adopted by any governmental authority related to the Management Methods for  Controlling Pollution by Electronic Information Products (Ministry of Information Industry Order #39) of the Peoples Republic of China otherwise  encouraging the recycle and use of electronic information products.  Customer shall defend, indemnify and hold Universal Robots harmless from  any damage, claim or liability relating thereto.  At the time Customer desires to dispose of the Products, Customer shall refer to and comply with  the specific waste management instructions and options set forth  at www.universal‐robots.com/about‐universal‐robots/social‐responsibility and  www.teradyne.com/company/corporate‐social‐responsibility, as the same may be amended by Teradyne or Universal Robots.   User Manual UR30 PolyScope X...
  • Page 108 It is verified that foregoing equipment has been registered under the Clause 3, Article 58-2 of Radio Waves Act. 2024년(Year) 03월(Month) 22일(Day) 국립전파연구원장 Director General of National Radio Research Agency "적합성평가표시" ※ 적합등록 방송통신기자재는 반드시 를 부착하여 유통하여야 합니다. 위반시 과태료 처분 및 등록이 취소될 수 있습니다. UR30 PolyScope X User Manual...
  • Page 109 16. Certificates KCCs User Manual UR30 PolyScope X...
  • Page 110 Functions are certified to these functional safety Validation standards. ISO 13850 Clause Description Safety of machinery – Emergency stop – Principles for design ISO 12100 Clause Description Safety of machinery – General principles for design – Risk assessment and risk reduction UR30 PolyScope X User Manual...
  • Page 111 Robot Systems to American English, but the technical contents are the same. Part 2 of – Safety this standard is intended for the integrator of the robot system / robot Requirements application, and not Universal Robots. CAN/CSA- Clause Description Z434...
  • Page 112 Part 1: interface of the specific UR robot. Plates ISO 13732- Clause Description Ergonomics of the thermal environment – Methods for the assessment of human responses to contact with surfaces Part 1: Hot surfaces UR30 PolyScope X User Manual...
  • Page 113 - in terms of concentration of airborne particles is cleanrooms Part 1: Classification of air and clean zones. The cleanroom classification denotes the cleanliness by particle product's suitability for the specified cleanroom class. concentration User Manual UR30 PolyScope X...
  • Page 114 300 mm x 231 mm x 50 mm TP weight 1.8 kg / 3.961 lb TP cable: Teach Pendant to Control Box 4.5 m / 177 in Robot Cable: robot arm to Control Box Hiflex (PUR) 6 m / 236 in x 12.1 mm UR30 PolyScope X User Manual...
  • Page 115 19. Safety Functions Tables 19. Safety Functions Tables 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 116 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 PolyScope X User Manual...
  • Page 117 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 PolyScope X...
  • Page 118 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 PolyScope X User Manual...
  • Page 119 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 PolyScope X...
  • Page 120 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 PolyScope X User Manual...
  • Page 121 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 PolyScope X...
  • Page 122 • “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 PolyScope X User Manual...
  • Page 123 -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 PolyScope X...
  • Page 124 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 PolyScope X User Manual...
  • Page 125 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 PolyScope X...
  • Page 126 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 PolyScope X User Manual...
  • Page 127 User Manual UR30 PolyScope X...
  • Page 128 Part II Software Manual Part II Software Manual UR30 PolyScope X User Manual...
  • Page 129 User Manual PolyScope X Original instructions (en) SW 10.7...
  • Page 130 UR30 PolyScope X User Manual...
  • Page 131 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 PolyScope X...
  • Page 132 UR30 PolyScope X User Manual...
  • Page 133 6. Mechanical Interface 6.1. Workspace and Operating Space 6.2. Mounting Description 6.3. Securing the Robot Arm 6.4. Securing the Tool 6.5. Control Box Clearance 6.6. Maximum Payload 7. Electrical Interface 7.1. Electrical Warnings and Cautions 7.2. Controller I/O User Manual UR30 PolyScope X...
  • Page 134 19. Safety Functions Tables 19.1. Table 1a 19.2. Table 2 Part II Software Manual 20. Preface 20.1. What Do the Boxes Contain 20.2. Important Safety Notice 20.3. How to Read this Manual 20.4. Purpose of this Manual UR30 PolyScope X User Manual...
  • Page 135 25.2. Safety Configuration 25.3. Setting a Safety Password 25.4. Safety Menu Settings 25.4.1. Robot Limits 25.4.2. Safety I/O Signals 25.4.3. Safety Planes To restrict the elbow joint 26. Operational Mode 27. Application Tab 27.1. Communication 28. Glossary 28.1. Index User Manual UR30 PolyScope X...
  • Page 136 20. 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 137 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 138 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. UR30 PolyScope X User Manual...
  • Page 139 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 PolyScope X...
  • Page 140 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. UR30 PolyScope X User Manual...
  • Page 141 • 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 UR30 PolyScope X...
  • Page 142 "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. UR30 PolyScope X User Manual...
  • Page 143 TCPs Modifies the current Program robot program Controls and/or regulates robot movement Access to About More information Settings Displays information About about the robot configure settings Settings about the software, eg language and units User Manual UR30 PolyScope X...
  • Page 144 Shutdown shutdown the robot Displays the active safety Safety Checksum checksum and detailed parameters Footer Buttons Icon Title Description UR30 PolyScope X User Manual...
  • Page 145 The robot is in a fault state, such as e-stop. • Blue, Transition. The robot changing state, such as brake releasing. Starts the current Play loaded program. Allows a program Step to be run single- stepped User Manual UR30 PolyScope X...
  • Page 146 Halts the current Stop loaded program Manages the robot state. When Speed slider RED, press it to make the robot operational UR30 PolyScope X User Manual...
  • Page 147 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 UR30 PolyScope X...
  • Page 148 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. 25.4. Safety Menu Settings 25.4.1. Robot Limits UR30 PolyScope X User Manual...
  • Page 149 300 ms, the maximum robot speed is limited allowing the robot to stop within 300 ms. NOTICE The tool speed and force are limited at the tool flange and the center of the two user-defined tool positions User Manual UR30 PolyScope X...
  • Page 150 In Recovery mode, the movement of the robot arm is restricted by a fixed limit that you cannot customize. 25.4.2. Safety I/O Signals Robot stop was previously known as "Protective stop" for Universal Robots. UR30 PolyScope X User Manual...
  • Page 151 Description The I/O are divided between inputs and outputs and are paired up so that each function provides a Category 3 PLd capability. Figure 3.4:   PolyScope X screen displaying the Input signals. User Manual UR30 PolyScope X...
  • Page 152 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. UR30 PolyScope X User Manual...
  • Page 153 • 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. User Manual UR30 PolyScope X...
  • Page 154 25.4.3. Safety Planes Safety planes restrict robot workspace, the tool and the elbow. System Stop was previously known as "System Emergency Stop" for Universal Robots robots. PolyScope can display "System Emergency Stop". UR30 PolyScope X User Manual...
  • Page 155 • Tilt This is the tilt of the plane, measured from the power cord. • Rotation This is the rotation of the plane, measured clockwise. You can configure each plane with the restrictions listed below: User Manual UR30 PolyScope X...
  • Page 156 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. UR30 PolyScope X User Manual...
  • Page 157 *** 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 PolyScope X...
  • Page 158 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. UR30 PolyScope X User Manual...
  • Page 159 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. User Manual UR30 PolyScope X...
  • Page 160 Figure 3.7:   Communication screen displaying I/Os. Software Name: PolyScope X Software Version: 10.7 10.8.107 Document Version: UR30 PolyScope X User Manual...
  • Page 161 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  Part II Software Manual on page 128. User Manual UR30 PolyScope X...
  • Page 162 Control Box 6, 46, 58, 60, 70, 74, 110, 137 Conveyor Tracking 60 Elbow 96, 139 Emergency Stop Button 152 Ethernet 73 EtherNet/IP 73 External Emergency Stop 152 Footer 141 Freedrive 33-34 Freedrive on robot 153 UR30 PolyScope X User Manual...
  • Page 163 I/O 58, 61 Manual mode 157 Mini Displayport 72 MODBUS 73 Mounting bracket 6, 137 Normal 32 Normal mode 150 Not Reduced mode 154 output signals 154 PolyScope 6, 33-34 PolyScope X 140 Recovery 33-34 User Manual UR30 PolyScope X...
  • Page 164 System Stop 154 Teach Pendant 6, 46, 70, 110, 137 Tool Center Point 150 Tool Connector 78 Tool Flange 139 Tool Flange Accessories 52 Tool I/O 78 Tool I/O Accessories 78 Trigger Reduced Plane 32 UR30 PolyScope X User Manual...
  • Page 165 28. Glossary UR Forum 8 UR+ 8 UR+ Partner Program 8 Wrist 139 User Manual UR30 PolyScope X...
  • Page 166 28. Glossary UR30 PolyScope X User Manual...
  • Page 167 28. Glossary User Manual UR30 PolyScope X...
  • Page 168 Software Name: PolyScope X Software Version: 10.7 10.8.107 Document Version:...