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Universal Robots UR10e PolyScope X User Manual
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Universal Robots UR10e PolyScope X User Manual

Universal Robots UR10e PolyScope X User Manual

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UR10e PolyScope X
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PolyScope X

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Summary of Contents for Universal Robots UR10e PolyScope X

  • Page 1 User Manual UR10e PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR10e 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 UR10e PolyScope X...
  • Page 4 UR10e PolyScope X User Manual...
  • Page 5 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 UR10e PolyScope X...
  • Page 6 17.3. How to Read this Manual 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 UR10e 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 UR10e PolyScope X...
  • Page 8 1. Preface 1. Preface Introduction Congratulations on the purchase of your new Universal Robots robot, which consists of the robot arm (manipulator), Control Box and the Teach Pendant. Originally designed to mimic the range of motion of a human arm, the robot arm is composed of aluminium tubes, articulated by six joints, allowing for a high range of flexibility in your automation installation.
  • Page 9 • Wrist 3: where the tool is attached to the Tool Flange. The robot is partly completed machinery, as such a Declaration of Incorporation is provided. A risk assessment is required for each robot application. User Manual UR10e 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 The UR Academy site academy.universal-robots.com offers a variety of training opportunities. Developer suite The UR Developer Suite universal-robots.com/products/ur-developer-suite is a collection of all the tools needed to build an entire solution, including developing URCaps, adapting end-effectors, and integrating hardware. User Manual UR10e PolyScope X...
  • Page 12 1. Preface UR10e PolyScope X User Manual...
  • Page 13 Part I Hardware Installation Manual Part I Hardware Installation Manual User Manual UR10e PolyScope X...
  • Page 14 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 15 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 UR10e PolyScope X...
  • Page 16 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. UR10e PolyScope X User Manual...
  • Page 17 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 UR10e PolyScope X...
  • Page 18 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. UR10e PolyScope X User Manual...
  • Page 19 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 20 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 21 • 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 UR10e PolyScope X...
  • Page 22 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. UR10e PolyScope X User Manual...
  • Page 23 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 UR10e PolyScope X...
  • Page 24 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 25 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 UR10e PolyScope X...
  • Page 26 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. UR10e PolyScope X User Manual...
  • Page 27 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 UR10e PolyScope X...
  • Page 28 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 29 *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 30 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 31 (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 UR10e PolyScope X...
  • Page 32 450 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. UR10e PolyScope X User Manual...
  • Page 33 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 UR10e PolyScope X...
  • Page 34 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. UR10e PolyScope X User Manual...
  • Page 35 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 UR10e PolyScope X...
  • Page 36 • 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. UR10e PolyScope X User Manual...
  • Page 37 • 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 UR10e PolyScope X...
  • Page 38 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. UR10e PolyScope X User Manual...
  • Page 39 3. Mechanical Interface The cylindrical volume is both directly above and directly below the robot base. The robot extends 1300 mm from the base joint. Front Tilted 3.2. Mounting Description User Manual UR10e PolyScope X...
  • Page 40 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) UR10e PolyScope X User Manual...
  • Page 41 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 UR10e PolyScope X...
  • Page 42 Press the power button on the Teach Pendant to turn off the robot. ROBOTS. ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF WEIGHT UNIVERSAL ROBOTS IS PROHIBITED TOLERANCE Unplug the mains cable / power cord from the wall socket. Replace drawing: UL class Allow 30 seconds for the robot to discharge any stored energy.
  • Page 43 : 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 UR10e PolyScope X...
  • Page 44 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. UR10e PolyScope X User Manual...
  • Page 45 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 UR10e PolyScope X...
  • Page 46 • 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 UR10e PolyScope X User Manual...
  • Page 47 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 UR10e PolyScope X...
  • Page 48 • The robot can accommodate a long center of gravity offset, if the payload is placed below the tool flange, as is often the case in palletizing applications. UR10e PolyScope X User Manual...
  • Page 49 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. User Manual UR10e PolyScope X...
  • Page 50 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. UR10e PolyScope X User Manual...
  • Page 51 • 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 52 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. UR10e PolyScope X User Manual...
  • Page 53 Terminals Parameter Unit Internal 24V power supply Voltage [PWR - GND] Current [PWR - GND] External 24V input requirements Voltage [24V - 0V] [24V - 0V] Current *3.5A for 500ms or 33% duty cycle. User Manual UR10e PolyScope X...
  • Page 54 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 UR10e PolyScope X User Manual...
  • Page 55 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. User Manual UR10e PolyScope X...
  • Page 56 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 UR10e PolyScope X User Manual...
  • Page 57 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. User Manual UR10e PolyScope X...
  • Page 58 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 UR10e PolyScope X User Manual...
  • Page 59 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 User Manual UR10e PolyScope X...
  • Page 60 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 UR10e PolyScope X User Manual...
  • Page 61 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 UR10e PolyScope X...
  • Page 62 The electrical specifications are shown below. Terminals Parameter Unit Voltage [12V - GND] [12V - GND] Current Inactive voltage [ON / OFF] [ON / OFF] Active voltage [ON / OFF] Input current Activation time [ON] UR10e PolyScope X User Manual...
  • Page 63 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 UR10e PolyScope X...
  • Page 64 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 UR10e PolyScope X User Manual...
  • Page 65 (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” User Manual UR10e PolyScope X...
  • Page 66 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 UR10e PolyScope X User Manual...
  • Page 67 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. User Manual UR10e PolyScope X...
  • Page 68 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. UR10e PolyScope X User Manual...
  • Page 69 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. User Manual UR10e PolyScope X...
  • Page 70 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- UR10e PolyScope X User Manual...
  • Page 71 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). User Manual UR10e PolyScope X...
  • Page 72 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). UR10e PolyScope X User Manual...
  • Page 73 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 User Manual UR10e PolyScope X...
  • Page 74 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. UR10e PolyScope X User Manual...
  • Page 75 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 UR10e PolyScope X...
  • Page 76 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 77 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. User Manual UR10e PolyScope X...
  • Page 78 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 79 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 UR10e PolyScope X...
  • Page 80 • 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. UR10e PolyScope X User Manual...
  • Page 81 • 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. User Manual UR10e PolyScope X...
  • Page 82 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. UR10e PolyScope X User Manual...
  • Page 83 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 84 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. UR10e PolyScope X User Manual...
  • Page 85 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 86 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 87 The values illustrated below represent two scenarios, robots with a maximum payload of 10kg, and robots with a maximum payload of 12.5kg. 10.1. Robot Scenario 1: 10 kg. Joint 0 (BASE) Stopping distance in meters for 33% of 10kg User Manual UR10e PolyScope X...
  • Page 88 10kg Joint 0 (BASE) Stopping time in seconds for 33% of 10kg Stopping time in seconds for 66% of 10kg Stopping time in seconds for maximum payload of 10kg UR10e PolyScope X User Manual...
  • Page 89 Stopping distance in meters for 66% of 10kg Stopping distance in meters for maximum payload of 10kg Joint 1 (SHOULDER) Stopping time in seconds for 33% of 10kg Stopping time in seconds for 66% of 10kg User Manual UR10e PolyScope X...
  • Page 90 10kg Joint 2 (ELBOW) Stopping distance in meters for all payloads Stopping time in seconds for all payloads 10.2. Robot Scenario 2: 12.5 kg. Joint 0 (BASE) Stopping distance in meters for 33% of 12.5kg UR10e PolyScope X User Manual...
  • Page 91 Stopping distance in meters for 66% of 12.5kg Stopping distance in meters for maximum payload of 12.5kg Joint 0 (BASE) Stopping time in seconds for 33% of 12.5kg Stopping time in seconds for 66% of 12.5kg User Manual UR10e PolyScope X...
  • Page 92 Stopping time in seconds for maximum payload of 12.5kg Joint 1 (SHOULDER) Stopping distance in meters for 33% of 12.5kg Stopping distance in meters for 66% of 12.5kg Stopping distance in meters for maximum payload of 12.5kg UR10e PolyScope X User Manual...
  • Page 93 Stopping time in seconds for 33% of 12.5kg Stopping time in seconds for 66% of 12.5kg Stopping time in seconds for maximum payload of 12.5kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 12.5kg User Manual UR10e PolyScope X...
  • Page 94 Stopping distance in meters for 66% of 12.5kg Stopping distance in meters for maximum payload of 12.5kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 12.5kg Stopping time in seconds for 66% of 12.5kg UR10e PolyScope X User Manual...
  • Page 95 10. Stopping Time and Stopping Distance Stopping time in seconds for maximum payload of 12.5kg User Manual UR10e PolyScope X...
  • Page 96  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 97 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 UR10e PolyScope X...
  • Page 98 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. UR10e PolyScope X User Manual...
  • Page 99 13. Certificates 13. Certificates TÜV Rheinland User Manual UR10e PolyScope X...
  • Page 100 Polybrominated  diphenyl ethers  UR Robots 机器人：基本系统 (Cr+6) (PBDE) 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. 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  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 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.   UR10e PolyScope X User Manual...
  • Page 101 13. Certificates KC Safety User Manual UR10e PolyScope X...
  • Page 102 13. Certificates KC Registration UR10e PolyScope X User Manual...
  • Page 103 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 User Manual UR10e PolyScope X...
  • Page 104 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: UR10e PolyScope X User Manual...
  • Page 105 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. User Manual UR10e PolyScope X...
  • Page 106 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. UR10e PolyScope X User Manual...
  • Page 107 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. User Manual UR10e PolyScope X...
  • Page 108 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. UR10e PolyScope X User Manual...
  • Page 109 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 User Manual UR10e PolyScope X...
  • Page 110 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. UR10e PolyScope X User Manual...
  • Page 111 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 User Manual UR10e PolyScope X...
  • Page 112 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 UR10e PolyScope X User Manual...
  • Page 113 Robot Cable: Robot Arm to Control Box Standard (PVC) 6 m/236 in x 13.4 mm (options) Standard (PVC) 12 m/472.4 in x 13.4 mm Hiflex (PUR) 6 m/236 in x 12.1 mm Hiflex (PUR) 12 m/472.4 in x 12.1 mm User Manual UR10e PolyScope X...
  • Page 114 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 115 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. User Manual UR10e PolyScope X...
  • Page 116 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. UR10e PolyScope X User Manual...
  • Page 117 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. User Manual UR10e PolyScope X...
  • Page 118 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. UR10e PolyScope X User Manual...
  • Page 119 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. User Manual UR10e PolyScope X...
  • Page 120 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. UR10e 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 UR10e PolyScope X...
  • Page 122 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. UR10e 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 UR10e 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 device automatic mode. • a safety-rated monitored stop function • a settable safety-rated monitored speed function UR10e 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 UR10e PolyScope X...
  • Page 126 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). UR10e PolyScope X User Manual...
  • Page 127 User Manual UR10e PolyScope X...
  • Page 128 Part II PolyScope X Software Manual Part II PolyScope X Software Manual UR10e PolyScope X User Manual...
  • Page 129 User Manual PolyScope X Original instructions (en) SW 10.7...
  • Page 130 UR10e 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 UR10e PolyScope X...
  • Page 132 UR10e PolyScope X User Manual...
  • Page 133 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 UR10e PolyScope X...
  • Page 134 17.3. How to Read this Manual 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 UR10e PolyScope X User Manual...
  • Page 135 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 UR10e PolyScope X...
  • Page 136 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 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. UR10e 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 UR10e 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. UR10e 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 UR10e 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. UR10e PolyScope X User Manual...
  • Page 143 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 UR10e PolyScope X...
  • Page 144 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 UR10e PolyScope X User Manual...
  • Page 145 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 UR10e PolyScope X...
  • Page 146 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. UR10e PolyScope X User Manual...
  • Page 147 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 UR10e PolyScope X...
  • Page 148 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 3.4:   PolyScope X screen displaying the Inpu signals. Robot stop was previously known as "Protective stop" for Universal Robots. UR10e PolyScope X User Manual...
  • Page 149 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 UR10e PolyScope X...
  • Page 150 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 3.5:   PolyScope X screen displaying safety planes. UR10e PolyScope X User Manual...
  • Page 151 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 UR10e PolyScope X...
  • Page 152 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. UR10e PolyScope X User Manual...
  • Page 153 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 UR10e PolyScope X...
  • Page 154 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. UR10e PolyScope X User Manual...
  • Page 155 Figure 3.7:   Communication screen displaying I/Os. Software Name: PolyScope X Software Version: 10.7 Document Version: User Manual UR10e PolyScope X...
  • Page 156 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 . UR10e PolyScope X User Manual...
  • Page 157 Base 87, 139 bla 141 Configurable I/O 53 Control Box 8, 40, 50, 52, 62, 65-66, 104, 137 Conveyor Tracking 52 Elbow 87, 139 Ethernet 65 EtherNet/IP 65 Freedrive 36-37 General purpose I/O 53 I/O 50, 53 User Manual UR10e PolyScope X...
  • Page 158 Reduced mode 148-150 risk assessment 9, 15, 26, 30, 137 robot arm 50, 138-139 Robot arm 104 robot cable 68-69 Robot Moving 150 Robot Not Stopping 150 Safeguard Reset 149 Safety Configuration 23 Safety functions 28, 30 UR10e PolyScope X User Manual...
  • Page 159 System Emergency Stop 150 Teach Pendant 8, 40, 62, 104, 137 Tool Center Point 148 Tool Flange 139 Tool I/O 70 Trigger Reduced Plane 35 UR Forum 11 UR+ 10 UR+ Partner Program 10 Wrist 139 User Manual UR10e PolyScope X...
  • Page 160 UR10e PolyScope X User Manual...
  • Page 161 UR10e PolyScope X User Manual...
  • Page 162 Software Name: PolyScope X Software Version: 10.7 Document Version:...