Universal Robots UR15 PolyScope X User Manual
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Universal Robots UR15 PolyScope X User Manual

Universal Robots UR15 PolyScope X User Manual

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UR15 PolyScope X
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Summary of Contents for Universal Robots UR15 PolyScope X

  • Page 1 User Manual UR15 PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR15 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 © 2009–2025 by Universal Robots A/S. The Universal Robots logo is a registered trademark of Universal Robots A/S. User Manual UR15 PolyScope X...
  • Page 4 UR15 PolyScope X User Manual...

  • Page 5: Table Of Contents

    6.3.1. Control Box Mounting 6.3.2. Control Box Clearance 6.4. Workspace and Operating Space 6.4.1. Singularity 6.4.2. Fixed and Movable Installation 6.5. Robot Connections: Base Flange Cable 6.6. Robot Connections: Robot Cable 6.7. Mains Connections 7. Application Tab 7.1. Communication User Manual UR15 PolyScope X...
  • Page 6 9.12.6. Tool Power Supply 9.12.7. Tool Digital Outputs 9.12.8. Tool Digital Inputs 9.12.9. Tool Analogue Inputs 9.12.10. Tool Communication I/O 10. First Time Use 10.1. Settings 10.1.1. Password 10.1.2. Secure Shell (SSH) Access 10.1.3. Permissions 10.1.4. Services UR15 PolyScope X User Manual...
  • Page 7 15. Maintenance and Repair 15.1. Testing Stopping Performance 15.2. Robot Arm Cleaning and Inspection 16. Disposal and Environment 17. Risk Assessment 17.1. Pinch Hazard 17.2. Stopping Time and Stopping Distance 18. Declaration of Incorporation (original) 19. Declarations and Certificates 20. Certifications UR15 21. Certificates User Manual UR15 PolyScope X...
  • Page 8 UR15 PolyScope X User Manual...

  • Page 9: Liability And 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. All UR robots are equipped with safety functions, which are purposely designed to enable collaborative applications, where the robot application operates together with a human.
  • Page 10 • 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 Failure to consider the added risks due to the reach, payloads, operating torques and speeds associated with robot application, can result in injury or death.

  • Page 11: Your Robot

    2. Your Robot Introduction Congratulations on the purchase of your new Universal Robots robot, which consists of the robot arm (manipulator), Control Box and the Teach Pendant. Originally designed to mimic the range of motion of a human arm, the robot arm is composed of aluminium tubes, articulated by six joints, allowing for a high range of flexibility in your automation installation.
  • Page 12 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. UR15 PolyScope X User Manual...
  • Page 13 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 14 • PolyScope Software Handbook with descriptions and instructions for the software • The Service Handbook with instructions for troubleshooting, maintenance and repair • The Script Directory with scripting for in depth programming UR15 PolyScope X User Manual...

  • Page 15: Technical Specifications Ur15

    Standard (PVC) 6 m/236 in x 13.4 mm Standard (PVC) 12 m/472.4 in x 13.4 mm Robot Cable: robot arm to Control Box Hiflex (PUR) 6 m/236 in x 12.1 mm Hiflex (PUR) 12 m/472.4 in x 12.1 mm User Manual UR15 PolyScope X...

  • Page 16: Teach Pendant With 3-Position Enabling Device

    The 3PE Teach Pendant is not included with the purchase of the OEM Control Box, so enabling device functionality is not provided. Power button Overview of Emergency Stop button USB port (comes with a dust cover) 3PE buttons UR15 PolyScope X User Manual...
  • Page 17 2. Your Robot Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. User Manual UR15 PolyScope X...

  • Page 18: 3Pe Teach Pendant Button Functions

    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. UR15 PolyScope X User Manual...
  • Page 19 2. Your Robot Button release Button press User Manual UR15 PolyScope X...
  • Page 20 2. Your Robot UR15 PolyScope X User Manual...

  • Page 21: Polyscope X Overview

    This gives you a three-dimensional view of the robot arm in X-Y-Z coordinates. To maximize the 3D viewing area, collapse the right drawer using the right toolbar: • tap once the Move icon • tap twice the Program structure icon • tap twice the Global Variables icon User Manual UR15 PolyScope X...
  • Page 22 Contains icon/fields to select a multitask screen: • Safety overview icon • Move • Program structure • Global Variables • Footer - in yellow-border box Contains buttons to control robot state, speed, and program run/play. UR15 PolyScope X User Manual...

  • Page 23: Touch Screen

    Teach Pendant touch screen sensitivity is, by design, more resistant to environmental factors such as: • Water droplets and/or machine coolant droplets • Radio wave emissions • Other conducted noise from the operating environment User Manual UR15 PolyScope X...

  • Page 24: Icons

    Access to basic and advanced robot programs. Enables control and regulation of robot movement in X, Y, Z coordinates. Operates the robot using prewritten programs and shows the Operator status of the robot. Icons Inside the More/Hamburger Icon Icon Title Description UR15 PolyScope X User Manual...
  • Page 25 Comprehensive function for robot movement, detailing the joints, Move TCP, flange, base. Provides an orderly structure of created program(s). Access to Program structure add modules. Global Variables Access to created program names and values. User Manual UR15 PolyScope X...
  • Page 26 Step Allows a program to be run single-stepped. Stop Halts the current loaded program. Manages the robot state. When RED, press it to make Speed slider the robot operational. Main Screen Icons Icon Title Description UR15 PolyScope X User Manual...
  • Page 27 To copy a command node to another program tree. Paste To paste a command node to another program tree. To cut a command node from a program tree. Delete To delete a command node in a program tree. User Manual UR15 PolyScope X...

  • Page 28: Light Ring

    The light ring configuration can be modified and/or disabled by the user. See the Script Directory for further information. NOTICE The color spectrum of the light ring can deviate at maximum ambient temperature. Robot base 1 Light ring 2 Base UR15 PolyScope X User Manual...
  • Page 29 Robot can be moved by hand Blue 1. Backdrive Not Automatic, Not being moved 2. Freedrive 1. Booting process No power available to the robot arm 1. Fault 2. Violation 3. Loading Screen 4. System power OFF User Manual UR15 PolyScope X...

  • Page 30: 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 any damages...

  • Page 31: Safety Message Types

    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 UR15 PolyScope X...

  • Page 32: 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. UR15 PolyScope X User Manual...
  • Page 33 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 UR15 PolyScope X...

  • Page 34: Integration And Responsibility

    *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 35: Lifting And Handling

    5. Lifting and Handling 5. Lifting and Handling User Manual UR15 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. UR15 PolyScope X User Manual...

  • Page 37: Robot Arm

    WARNING Using the round sling without an inspection can lead to injury. • Inspect the sling before and after each use. • Inspect the sling during use if possible. User Manual UR15 PolyScope X...

  • Page 38: Control Box And Teach Pendant

    5.2. Control Box and Teach Pendant Description The Control Box and the Teach Pendant can each be carried by one person. While in use, all cables are to be coiled and held to prevent tripping hazards. UR15 PolyScope X User Manual...

  • Page 39: Assembly And Mounting

    Plug in the mains, or main power cable, of the Control Box. WARNING Failure to secure the robot arm to a sturdy surface can lead to injury caused by the robot falling. • Ensure the robot arm is secured to a sturdy surface User Manual UR15 PolyScope X...

  • Page 40: Securing The Robot Arm

    If a Shutdown dialog box displays, tap Power Off. At this point, you can continue to: • Unplug the mains cable / power cord from the wall socket. • Allow 30 seconds for the robot to discharge any stored energy. UR15 PolyScope X User Manual...
  • Page 41 (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 UR15 PolyScope X...

  • Page 42: Dimensioning The Stand

    : 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. UR15 PolyScope X User Manual...
  • Page 43 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. User Manual UR15 PolyScope X...

  • Page 44: Mounting Description

    The Teach Pendant is wall mounted or placed onto the Control Box. Verify Teach the cable does not cause tripping hazard. You can buy extra brackets for Pendant mounting the Control Box and Teach Pendant. UR15 PolyScope X User Manual...
  • Page 45 IP ratings of the robot arm (IP65), Teach Pendant (IP54) and Control Box (IP44) WARNING Unstable mounting can result in injury. • Always make sure the robot parts are properly and securely mounted and bolted in place. User Manual UR15 PolyScope X...

  • Page 46: Control Box Mounting

    Use the bracket, shown below, included with the robot to mount the Control Box. Mount the bracket to a wall, then hang the Control Box on the bracket via the mounting CB to a wall pegs. UR15 PolyScope X User Manual...

  • Page 47: Control Box Clearance

    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 UR15 PolyScope X...

  • Page 48: Workspace And Operating Space

    Do not move the tool close to the cylindrical volume, even when the tool is moving slowly. The cylindrical volume is both directly above and directly below the robot base. The robot extends 1300 mm from the base joint. Front Tilted UR15 PolyScope X User Manual...

  • Page 49: Singularity

    The singularity occurs because the robot cannot reach far enough or it reaches outside of workspace the maximum working area. limit To avoid: Arrange the equipment around the robot to avoid it reaching outside of the recommended workspace. User Manual UR15 PolyScope X...

  • Page 50: Fixed And Movable Installation

    (linear axis, push cart, or mobile robot base), it must be installed securely to ensure stability through all motions. The design of the mounting must ensure stability when there are movements of: • the robot arm • the robot base • both robot arm and robot base UR15 PolyScope X User Manual...

  • Page 51: Robot Connections: Base Flange Cable

    Do not use one Robot Cable to extend another 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 UR15 PolyScope X...

  • Page 52: Robot Connections: Robot Cable

    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. UR15 PolyScope X User Manual...

  • Page 53: Mains Connections

    A lockable (in the OFF position) switch A main switch shall be installed to power off all equipment in the robot application as an easy means for lockout. The electrical specifications are shown in the table below. User Manual UR15 PolyScope X...
  • Page 54 Ensure other equipment shall not supply power to the robot I/O when the robot is locked out. • Ensure all cables are connected correctly before the Control Box is powered. Always use the original power cord. UR15 PolyScope X User Manual...

  • Page 55: Application Tab

    Application screen displaying application buttons. Figure 1.1:   Use the Application tab to access to the following configuration screens: • Mounting • Frames • Grids • End Effectors • Communication • Safety • Smart Skills • System Info User Manual UR15 PolyScope X...

  • Page 56: Communication

    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. Communication screen displaying I/Os. Figure 1.2:   UR15 PolyScope X User Manual...

  • Page 57: First Boot

    Starting up the robot in lower temperatures can result in lower performance, or stops, due to temperature dependent oil and grease viscosity. • Starting up the robot in low temperatures can require a warmup phase. User Manual UR15 PolyScope X...

  • Page 58: Powering On The Robot

    Select your Control Box. Add the serial number as it is written on the robot arm. Tap OK to end. It can take a few minutes for the start screen to load. UR15 PolyScope X User Manual...

  • Page 59: Starting The Robot Arm

    If a Shutdown dialog box displays, tap Power Off. At this point, you can continue to: • Unplug the mains cable / power cord from the wall socket. • Allow 30 seconds for the robot to discharge any stored energy. User Manual UR15 PolyScope X...

  • Page 60: Installation

    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 61 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 62: 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. UR15 PolyScope X User Manual...

  • Page 63: Ethernet

    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 UR15 PolyScope X...

  • Page 64: 3Pe Teach Pendant Installation

    Teach Pendant port. Fully open/loosen the plastic grommet at the bottom of the control box and remove the Teach Pendant plug and cable. Gently remove the Teach Pendant cable and Teach Pendant. 1 Clips 2 Plastic grommet UR15 PolyScope X User Manual...
  • Page 65 There is always a length of cable with the Teach Pendant that can present a tripping hazard if it is not stored properly. • Always store the Teach Pendant and the cable properly to avoid tripping hazards. User Manual UR15 PolyScope X...

  • Page 66: 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. UR15 PolyScope X User Manual...
  • Page 67 24V supply. The lower two terminals (24V and 0V) in the block are the 24V input to supply the I/O. The default configuration uses the internal power supply. Power supply In this example the default configuration uses the internal power supply default Power User Manual UR15 PolyScope X...
  • Page 68 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. UR15 PolyScope X User Manual...
  • Page 69 [COx / DOx] IEC 61131-2 Type Digital Inputs [EIx/SIx/CIx/DIx] Voltage [EIx/SIx/CIx/DIx] OFF region [EIx/SIx/CIx/DIx] ON region [EIx/SIx/CIx/DIx] Current (11-30V) [EIx/SIx/CIx/DIx] Function PNP + Type [EIx/SIx/CIx/DIx] IEC 61131-2 Type *For resistive loads or inductive loads of maximum 1H. User Manual UR15 PolyScope X...

  • Page 70: Drive Power Indicator

    Verify the drive power indicator is correctly connected. • You can power on the robot arm and verify the light turns on. • You can power off the robot arm and verify the light turns off. UR15 PolyScope X User Manual...
  • Page 71 Scroll to your desired output type and tap to select one of the following: • Configurable Output • Digital Output • Analog Output Select Action Preset You can name the selected output In the dropdown select High when drive power is on, otherwise Low. User Manual UR15 PolyScope X...

  • Page 72: Using I/O For Mode Selection

    Using the mode selector, such as a key switch, prevents the TP from being used to switch mode selector between the modes. Connect your mode selector to the inputs as shown in the image below. Verify the mode selector is correctly connected and configured. UR15 PolyScope X User Manual...
  • Page 73 Once the input is assigned to the secondary device, switching modes via the TP is disabled. If an attempt is made to use the TP to switch modes, a message appears confirming the TP cannot be used to change the operational mode. User Manual UR15 PolyScope X...

  • Page 74: Safety I/O

    Output. Use the PolyScope interface to define a set of configurable I/O for safety functions. CAUTION Failure to verify and test the safety functions regularly can lead to hazardous situations. • Safety functions shall be verified before putting the robot into operation. • Safety functions shall be tested regularly. UR15 PolyScope X User Manual...
  • Page 75 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 User Manual UR15 PolyScope X...
  • Page 76 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. UR15 PolyScope X User Manual...
  • Page 77 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 User Manual UR15 PolyScope X...

  • Page 78: Safety I/O Signals

    9.7.1. Safety I/O Signals 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 1.3:   PolyScope X screen displaying the Input signals. UR15 PolyScope X User Manual...
  • Page 79 Stop Category 0 is triggered. Trigger planes can also cause a transition to the reduced configuration. The safety system transitions to the normal configuration in the same way. User Manual UR15 PolyScope X...
  • Page 80 • Use the external reset to ensure resetting only when a person is not exposed to hazards. WARNING When Automatic Mode Safeguard stop is enabled, a safeguard Stop is not triggered in Manual Mode. UR15 PolyScope X User Manual...
  • Page 81 Hence, to comply with safety standards, the external machinery must require manual action in order to resume. System Stop was previously known as "System Emergency Stop" for Universal Robots robots. PolyScope can display "System Emergency Stop". User Manual UR15 PolyScope X...

  • Page 82: 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 switch. Mode Switch The illustration below shows an Operational Mode switch. Configurable Inputs Operational mode Switch UR15 PolyScope X User Manual...

  • Page 83: General Purpose Analog I/O

    Analog Output in current mode [AOx - AG] Current [AOx - AG] Voltage [AOx - AG] Resolution Analog Output in voltage mode [AOx - AG] Voltage [AOx - AG] Current [AOx - AG] Resistance [AOx - AG] Resolution User Manual UR15 PolyScope X...

  • Page 84: Analog Input: Communication Interface

    Wait For options and expressions. In the drop-down menus under Communication Interface, select required values. Any changes in values are immediately sent to the tool. If any installation values differ from what the tool is using, a warning appears. UR15 PolyScope X User Manual...

  • Page 85: 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 UR15 PolyScope X...

  • Page 86: Digital Output

    Pendant. It is typically used: • When the Teach Pendant is inaccessible. • When a PLC system must have full control. • When several robots must be turned on or off at the same time. UR15 PolyScope X User Manual...

  • Page 87: End Effector Integration

    The end effector can also be referred to as the tool and the workpiece in this manual. NOTICE UR provides documentation for the end effector to be integrated with the robot arm. • Refer to the documentation specific to the end effector/tool/workpiece for mounting and connection. User Manual UR15 PolyScope X...

  • Page 88: Tool I/O

    The Tool Connector must be manually tightened up to a maximum of 0.4 Nm. Tool I/O The tool I/O for all Universal Robots robots can require an accessory element to facilitate Accessories connection with tools. You can use the Tool Cable Adapter.
  • Page 89 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 UR15 PolyScope X...

  • Page 90: Maximum Payload

    You can verify the reach and payload of your robot in the Technical Specifications. Payload [kg] Center of gravity offset [mm] The relationship between the rated payload and the center of gravity offset. UR15 PolyScope X User Manual...
  • Page 91 The higher load on the joints can limit some motions inside the working range of the robot. The robot software automatically ensures the mechanical limits of the robot are not exceeded. NOTICE Using the expanded payload range does not void your robot warranty for this robot. User Manual UR15 PolyScope X...

  • Page 92: Securing Tool

    The tool output flange (ISO 9409-1) is where the tool is mounted at the tip of the robot. It is recommended to use a radially slotted hole for the positioning pin to avoid over-constraining, while keeping precise position. UR15 PolyScope X User Manual...

  • Page 93: Set Payload

    In the Initialize popup, tap Power On and allow robot arm state change to Locked. In the Active Payload, verify the payload mass. You can also verify the mounting position is correct, in the 3D view. Tap UNLOCK for the robot arm to release its brake system. User Manual UR15 PolyScope X...

  • Page 94: Tool I/O Installation Specifications

    *** 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. UR15 PolyScope X User Manual...

  • Page 95: 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 UR15 PolyScope X...

  • Page 96: Tool Digital Outputs

    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 UR15 PolyScope X User Manual...

  • Page 97: Tool Digital Inputs

    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 UR15 PolyScope X...

  • Page 98: Tool Communication I/O

    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 UR15 PolyScope X User Manual...

  • Page 99: First Time Use

    In the password settings in PolyScope X, you can find three different types of password. • Operational Mode • Safety • Admin It is possible to set the same password in all three instances, but it is also possible to set three different password to separate access and options. User Manual UR15 PolyScope X...
  • Page 100 Settings menu. Default The default password for the admin password is: easybot Password NOTICE If you forget your admin password, it cannot be replaced or recovered. You will have to reinstall the software. UR15 PolyScope X User Manual...
  • Page 101 When one of the Security options is unlocked, the Close button in the bottom right of the Settings Settings menu changes. The Close button is replaced by the Lock and Close button menu indicating security is unlocked. On the Settings menu locate and tap the Lock and Close button. User Manual UR15 PolyScope X...
  • Page 102 Password NOTICE If you forget your password, it cannot be replaced or recovered. You will have to reinstall the software. You must use the default password, when you change the password for the first time. UR15 PolyScope X User Manual...
  • Page 103 Click the hamburger menu in the top left corner. Mode Click Settings. Password Click Operational Mode in the Password section. Add the default password, if it is the first time. Add your preferred password, at least 8 characters. User Manual UR15 PolyScope X...
  • Page 104 NOTICE If you forget your password, it cannot be replaced or recovered. You will have to reinstall the software. You have to use the default password, when you change the password for the first time. UR15 PolyScope X User Manual...
  • Page 105 Click the hamburger menu in the top left corner. Password Click Settings. Click Safety in the Password section. Add the default password, if it is the first time. Add your preferred password, at least 8 characters. User Manual UR15 PolyScope X...

  • Page 106: Secure Shell (Ssh) Access

    Admin password and which screens are available to all users. The following screens/functionalities can optionally be locked: • Network settings • Update settings • URCaps section in the System Manager UR15 PolyScope X User Manual...

  • Page 107: Services

    10.2. Safety Related Functions and Interfaces 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.

  • Page 108: Configurable Safety Functions

    10.2.1. Configurable Safety Functions 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 109: Safety Function

    The safety system limits are defined in the Safety Configuration. The safety system receives values from the input fields and detects any violation if any the values are exceeded. The robot controller prevents violations by making a robot stop or by reducing the speed. User Manual UR15 PolyScope X...

  • Page 110: Robot Limits

    Tool Force limits the maximum force exerted by the robot tool in clamping situations Elbow Speed limits maximum robot elbow speed Elbow Force limits maximum force that the elbow exerts on the environment UR15 PolyScope X User Manual...
  • Page 111 This configuration activates when the Tool Center Point (TCP) is positioned Reduced beyond a Trigger Reduced mode plane, or when triggered using a configurable input. Robot stop was previously known as "Protective stop" for Universal Robots. User Manual UR15 PolyScope X...

  • Page 112: 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. PolyScope X screen displaying safety planes. Figure 1.4:   UR15 PolyScope X User Manual...
  • Page 113 Reduced mode if the robot Tool or Elbow is positioned beyond it. Elbow Joint You can prevent the robot elbow joint from passing through any of your defined planes. Restriction Disable Restrict Elbow for elbow to pass through planes. User Manual UR15 PolyScope X...

  • Page 114: Cybersecurity Threat Assessment

    11.1. General Cybersecurity Description Connecting a Universal Robots robot to a network can introduce cybersecurity risks. These risks can be mitigated by using qualified personnel and implementing specific measures for protecting the robot's cybersecurity. Implementing cybersecurity measures requires conducting a cybersecurity threat assessment.
  • Page 115 Disable SSH access when not needed. Prefer key-based authentication over password-based authentication • Set the robot firewall to the most restrictive usable settings and disable all unused interfaces and services, close ports and restrict IP addresses • User Manual UR15 PolyScope X...

  • Page 116: Cybersecurity Hardening Guidelines

    Remove sensitive data from the robot before it is decommissioned. Pay particular attention to the URCaps and data in the program folder. • To ensure secure removal of highly sensitive data, securely wipe or destroy the SD card. UR15 PolyScope X User Manual...

  • Page 117: Communication Networks

    12. Communication Networks 12. Communication Networks Fieldbus You can use the Fieldbus options to define and configure the family of industrial computer network protocols used for real-time distributed control accepted by PolyScope: • Ethernet/IP • PROFINET User Manual UR15 PolyScope X...

  • Page 118: Profinet

    This is how you enable to Profinet function in PolyScope X. Profinet In the top right of the screen, tap the Hamburger menu and then tap Settings. In the menu on the left, under Security, tap Services. Tap the Profinet button to switch Profinet on. UR15 PolyScope X User Manual...

  • Page 119: Ethernet/Ip

    EtherNet/IP is a network protocol that enables the connection of the robot to an industrial EtherNet/IP scanner device. If the connection is enabled, you can select the action that occurs when a program loses EtherNet/IP scanner device connection. User Manual UR15 PolyScope X...
  • Page 120 This is how you enable to Ethernet/IP function in PolyScope X. Ethernet/IP In the top right of the screen, tap the Hamburger menu and then tap Settings. In the menu on the left, under Security, tap Services. Tap the Profinet button to switch Profinet on. UR15 PolyScope X User Manual...
  • Page 121 In the upper right corner of this screen, you can see the Ethernet/IP status. Connected The robot is connected to the Ethernet/IP Scanner Device. Ethernet/IP is running, but no device is connected to the robot via No Scanner Ethernet/IP. Disabled Ethernet/IP is not enabled. User Manual UR15 PolyScope X...

  • Page 122: Ur Connect

    Hit the "Connect" button on the main UR Connect page. Add you pin code from myUR. When you see the green icon in the right corner of the window, you are connected to the myUR Cloud. UR15 PolyScope X User Manual...
  • Page 123 12. Communication Networks Unsuccessful If you see the "Incorrect PIN code", please review your PIN code from myUR. connect User Manual UR15 PolyScope X...
  • Page 124 If you experience any unexpected when the UR Connect is active, you can go to the Diagnostics. Go to Settings. Go to UR Connect. Hit the kebab menu in the top right corner. Select the "Diagnostics". UR15 PolyScope X User Manual...
  • Page 125 It is possible to export the UR Connect logs from your PolyScope X software. Go to Settings. Go to UR Connect. Hit the kebab menu in the top right corner. Select the "Export Logs" Select "Export to myUR" or "Export to USB". User Manual UR15 PolyScope X...

  • Page 126: Emergency Events

    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. UR15 PolyScope X User Manual...

  • Page 127: 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 UR15 PolyScope X...

  • Page 128: Clamp Connection: Disassembly

    Failure to test the old joint before replacing it, can lead to damage to property and/or equipment. Always perform a joint verification test before replacing a joint. See the Joint Verification section in the Service Manual for more information. UR15 PolyScope X User Manual...
  • Page 129 You can use a pair of pointy tweezers or a small flathead screwdriver. 3. Remove the screws and the clamp on one side. 4. Support the joint as you remove the second side of the clamp. User Manual UR15 PolyScope X...
  • Page 130 13. Emergency Events 5. The joint is now loose and can be removed. Gently unplug the connector from the PCB on joint. The joint has now been dismounted. UR15 PolyScope X User Manual...

  • Page 131: Operational Mode

    *** 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 UR15 PolyScope X...
  • Page 132 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. UR15 PolyScope X User Manual...

  • Page 133: Transportation

    If the robot is transported attached to a 3rd-party application / installation, follow the recommendations for transporting the robot without the original transport packaging. Disclaimer Universal Robots cannot be held responsible for any damage caused by transportation of the equipment. See the recommendations for transportation without packaging at: universal- robots.com/manuals...

  • Page 134: Teach Pendant Storage

    It should be made clear if the e-Stop on the Teach Pendant stops the whole installation or only its connected robot. If there could be confusion, store the Teach Pendant such that the e-Stop button is not visible or usable. UR15 PolyScope X User Manual...

  • Page 135: Maintenance And Repair

    Any maintenance work, inspection and calibration shall be conducted in compliance with all safety instructions in this manual, the UR Service 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. Safety for...

  • Page 136: Testing Stopping Performance

    If stop time and/or stop distance safety functions are used and are the basis of the risk reduction strategy, no monitoring or testing of stopping performance is required. The robot does continuous monitoring. UR15 PolyScope X User Manual...

  • Page 137: 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. User Manual UR15 PolyScope X...
  • Page 138 • inhalation of vapors or ingestion of grease, get medical attention • After grease work • clean contaminated work surfaces. • dispose responsibly of any used rags or paper used for cleaning. • Contact with children and animals is prohibited. UR15 PolyScope X User Manual...
  • Page 139 15. Maintenance and Repair 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 140 15. Maintenance and Repair Robot Arm NOTICE Inspection Using compressed air to clean the robot arm can damage the robot arm Plan components. • Never use compressed air to clean the robot arm. UR15 PolyScope X User Manual...
  • Page 141 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 UR15 PolyScope X...

  • Page 142: Disposal And Environment

    16. Disposal and Environment Description Universal Robots robots must be disposed of in accordance with the applicable national laws, regulations and standards. this responsibility rests with the owner of the robot. UR robots are produced in compliance with restricted use of hazardous substances to protect the environment;...
  • Page 143 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 UR15 PolyScope X...

  • Page 144: 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. UR15 PolyScope X User Manual...
  • Page 145 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 UR15 PolyScope X...
  • Page 146 • 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 147: Pinch Hazard

    One area (left) is defined for radial motions when the wrist 1 joint is at least 1150 mm from the base of the robot. The other area (right) is within 400 mm of the base of the robot, when moving tangentially. User Manual UR15 PolyScope X...

  • Page 148: Stopping Time And Stopping Distance

    The values illustrated below represent two scenarios, robots with a maximum payload of 10kg, and robots with a maximum payload of 17.5kg. Joint 0 (BASE) Stopping distance in meters for 33% of 17.5kg UR15 PolyScope X User Manual...
  • Page 149 66% of 17.5kg Stopping distance in meters for maximum payload of 17.5kg Joint 0 (BASE) Stopping time in seconds for 33% of 17.5kg Stopping time in seconds for 66% of 17.5kg User Manual UR15 PolyScope X...
  • Page 150 17.5kg Joint 1 (SHOULDER) Stopping distance in meters for 33% of 17.5kg Stopping distance in meters for 66% of 17.5kg Stopping distance in meters for maximum payload of 17.5kg UR15 PolyScope X User Manual...
  • Page 151 Stopping time in seconds for 33% of 17.5kg Stopping time in seconds for 66% of 17.5kg Stopping time in seconds for maximum payload of 17.5kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 17.5 kg User Manual UR15 PolyScope X...
  • Page 152 66% of 17.5 kg Stopping distance in meters for maximum payload of 17.5 kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 17.5 kg Stopping time in seconds for 66% of 17.5 kg UR15 PolyScope X User Manual...
  • Page 153 17. Risk Assessment Stopping time in seconds for maximum payload of 17.5 kg User Manual UR15 PolyScope X...

  • Page 154: Declaration Of Incorporation (Original)

    18. Declaration of Incorporation (original) 18. Declaration of Incorporation (original) UR15 PolyScope X User Manual...
  • Page 155 7 = UR15 Incorporation: Universal Robots UR15 shall only be put into service upon being integrated into a final complete machine (robot application or robot cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.

  • Page 156: Declarations And Certificates

    Serial Number: year 7=UR15  series  Universal Robots UR15 shall only be put into service upon being integrated into a final complete machine (robot application or robot cell), Incorporation: which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 157 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 by the notified body Bureau Veritas: ISO 9001 certificate #DK015892 and ISO 45001 certificate #DK015891. User Manual UR15 PolyScope X...

  • Page 158: Certifications Ur15

    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 159 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 160: Certificates

    (Cr+6) (PBDE) UR Robots 机器人：基本系统 UR3 / UR5 / UR10 /  UR3e / UR5e /UR7e/  UR10e/UR12e/ UR16e / UR15/ 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.   UR15 PolyScope X User Manual...
  • Page 161 21. Certificates User Manual UR15 PolyScope X...
  • Page 162 Software Name: PolyScope X Software Version: 10.9 10.12.17 Document Version: 746-443-00...
  • Page 163 746-443-00...

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