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

Universal Robots UR5e PolyScope X User Manual

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UR5e PolyScope X
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PolyScope X

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Summary of Contents for Universal Robots UR5e PolyScope X

  • Page 1 User Manual UR5e PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR5e PolyScope X User Manual...
  • Page 3 Universal Robots A/S. This document is periodically reviewed and revised. Universal Robots A/S assumes no responsibility for any errors or omissions in this document. Copyright © 2009–2025 by Universal Robots A/S. The Universal Robots logo is a registered trademark of Universal Robots A/S. User Manual UR5e PolyScope X...
  • Page 4 UR5e PolyScope X User Manual...
  • Page 5 5.4. Workspace and Operating Space 5.4.1. Singularity 5.4.2. Fixed and Movable Installation 5.5. Robot Connections: Base Flange Cable 5.6. Robot Connections: Robot Cable 5.7. Mains Connections 6. Application Tab 6.1. Communication 7. First Boot 7.1. Powering On the Robot User Manual UR5e PolyScope X...
  • Page 6 8.12.9. Tool Analogue Inputs 8.12.10. Tool Communication I/O 9. First Time Use 9.1. Settings 9.1.1. Password 9.1.2. Secure Shell (SSH) Access 9.1.3. Permissions 9.1.4. Services 9.2. Safety Related Functions and Interfaces 9.2.1. Configurable Safety Functions 9.2.2. Safety Function UR5e PolyScope X User Manual...
  • Page 7 14. Maintenance and Repair 14.1. Testing Stopping Performance 14.2. Robot Arm Cleaning and Inspection 15. Disposal and Environment 16. Risk Assessment 16.1. Pinch Hazard 16.2. Stopping Time and Stopping Distance 17. Declaration of Incorporation (original) 18. Declarations and Certificates 19. Certifications UR5e 20. Certificates User Manual UR5e PolyScope X...
  • Page 8 UR5e PolyScope X User Manual...
  • Page 9 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 Do not modify or alter e-Series robots end caps. A modification can create unforeseen hazards. All authorized disassembling and reassembling shall be done at a UR service center, or can be done according to the newest version of all relevant service manuals by skilled persons. User Manual UR5e PolyScope X...
  • Page 12 2. Your Robot Introduction Congratulations on the purchase of your new Universal Robots robot, which consists of the robot arm (manipulator), Control Box and the Teach Pendant. Originally designed to mimic the range of motion of a human arm, the robot arm is composed of aluminium tubes, articulated by six joints, allowing for a high range of flexibility in your automation installation.
  • Page 13 Risk assessment requires an understanding of the hazards, risks and risk reduction measures for the robot application. Robot integration can require a basic level of mechanical and electrical training. User Manual UR5e PolyScope X...
  • Page 14 In the myUR portal, your cases are handled either by your preferred distributor, or escalated to Universal Robots Customer Service teams. You can also subscribe to robot monitoring and manage additional user accounts in your company.
  • Page 15 • PolyScope Software Handbook with descriptions and instructions for the software • The Service Handbook with instructions for troubleshooting, maintenance and repair • The Script Directory with scripting for in depth programming User Manual UR5e PolyScope X...
  • Page 16 Standard (PVC) 6 m/236 in x 13.4 mm Robot Cable: Robot Arm to Control Box Standard (PVC) 12 m/472.4 in x 13.4 mm (options) Hiflex (PUR) 6 m/236 in x 12.1 mm Hiflex (PUR) 12 m/472.4 in x 12.1 mm UR5e PolyScope X User Manual...
  • Page 17 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 User Manual UR5e PolyScope X...
  • Page 18 2. Your Robot Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. UR5e PolyScope X User Manual...
  • Page 19 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. User Manual UR5e PolyScope X...
  • Page 20 2. Your Robot Button release Button press UR5e PolyScope X User Manual...
  • Page 21 2. Your Robot User Manual UR5e PolyScope X...
  • Page 22 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 UR5e PolyScope X User Manual...
  • Page 23 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. User Manual UR5e PolyScope X...
  • Page 24 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 UR5e PolyScope X User Manual...
  • Page 25 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 User Manual UR5e PolyScope X...
  • Page 26 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. UR5e PolyScope X User Manual...
  • Page 27 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 User Manual UR5e PolyScope X...
  • Page 28 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. UR5e PolyScope X User Manual...
  • Page 29 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 30 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. UR5e PolyScope X User Manual...
  • Page 31 WARNING Handling tools/end effectors with sharp edges and/or pinch points can result in injury. • Make sure tools/end effectors have no sharp edges or pinch points. • Protective gloves and/or protective eyeglasses could be required. User Manual UR5e PolyScope X...
  • Page 32 NOTICE Very strong magnetic fields can damage the robot. • Do not expose the robot to permanent magnetic fields. READ MANUAL Verify all mechanical and electrical equipment is installed according to relevant specifications and warnings. UR5e PolyScope X User Manual...
  • Page 33 *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 34 4.2. 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. UR5e PolyScope X User Manual...
  • Page 35 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 UR5e PolyScope X...
  • Page 36 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. UR5e PolyScope X User Manual...
  • Page 37 (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 UR5e PolyScope X...
  • Page 38 : 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. UR5e PolyScope X User Manual...
  • Page 39 If the robot is mounted on an external axis, the accelerations of this axis must not be too high. You can let the robot software compensate for the acceleration of external axes by using script command: set_base_acceleration() • High accelerations can cause the robot to make safety stops. User Manual UR5e PolyScope X...
  • Page 40 IP ratings of the robot (IP54), Teach Pendant (IP54) and Control Box (IP44) WARNING Unstable mounting can result in injury. • Always make sure the robot parts are properly and securely mounted and bolted in place. UR5e PolyScope X User Manual...
  • Page 41 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. User Manual UR5e PolyScope X...
  • Page 42 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. UR5e PolyScope X User Manual...
  • Page 43 Do not move the tool close to the cylindrical volume, even when the tool is moving slowly. Workspace The cylindrical volume is both directly above and directly below the robot base. The robot extends 850 mm from the base joint. Front Tilted User Manual UR5e PolyScope X...
  • Page 44 The singularity occurs because the robot cannot reach far enough or it reaches outside of workspace the maximum working area. limit To avoid: Arrange the equipment around the robot to avoid it reaching outside of the recommended workspace. UR5e PolyScope X User Manual...
  • Page 45 (linear axis, push cart, or mobile robot base), it must be installed securely to ensure stability through all motions. The design of the mounting must ensure stability when there are movements of: • the robot arm • the robot base • both robot arm and robot base User Manual UR5e PolyScope X...
  • Page 46 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. UR5e PolyScope X User Manual...
  • Page 47 Improper robot connection can result in loss of power to the robot arm. • Do not disconnect the Robot Cable when the robot arm is turned on. • Do not extend or modify the original Robot Cable. User Manual UR5e PolyScope X...
  • Page 48 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. UR5e PolyScope X User Manual...
  • Page 49 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. User Manual UR5e PolyScope X...
  • Page 50 Application screen displaying application buttons. Use the Application tab to access to the following configuration screens: • Mounting • Frames • Grids • End Effectors • Communication • Safety • Smart Skills • System Info UR5e PolyScope X User Manual...
  • Page 51 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:   User Manual UR5e PolyScope X...
  • Page 52 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. UR5e PolyScope X User Manual...
  • Page 53 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. User Manual UR5e PolyScope X...
  • Page 54 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. UR5e PolyScope X User Manual...
  • Page 55 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 56 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 57 Plug in the active adapter before powering on the Control Box. • In some cases the external monitor must be powered on before the Control Box. • Use an active adapter that supports revision 1.2 as not all adapters function out-of-the-box. User Manual UR5e PolyScope X...
  • Page 58 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 UR5e PolyScope X User Manual...
  • Page 59 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 User Manual UR5e PolyScope X...
  • Page 60 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. UR5e PolyScope X User Manual...
  • Page 61 8. Installation User Manual UR5e PolyScope X...
  • Page 62 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. UR5e PolyScope X User Manual...
  • Page 63 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 UR5e PolyScope X...
  • Page 64 Terminals Parameter Unit Internal 24V power supply Voltage [PWR - GND] [PWR - GND] Current External 24V input requirements [24V - 0V] Voltage Current [24V - 0V] *3.5A for 500ms or 33% duty cycle. UR5e PolyScope X User Manual...
  • Page 65 [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 UR5e PolyScope X...
  • Page 66 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. UR5e PolyScope X User Manual...
  • Page 67 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 UR5e PolyScope X...
  • Page 68 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. UR5e PolyScope X User Manual...
  • Page 69 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 UR5e PolyScope X...
  • Page 70 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. UR5e PolyScope X User Manual...
  • Page 71 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 UR5e PolyScope X...
  • Page 72 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. UR5e PolyScope X User Manual...
  • Page 73 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 UR5e PolyScope X...
  • Page 74 8.7.1. 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. UR5e PolyScope X User Manual...
  • Page 75 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 UR5e PolyScope X...
  • Page 76 • 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. UR5e PolyScope X User Manual...
  • Page 77 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 UR5e PolyScope X...
  • Page 78 8. Installation UR5e PolyScope X User Manual...
  • Page 79 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 UR5e PolyScope X...
  • Page 80 Analog Output in current mode Current [AOx - AG] [AOx - AG] Voltage Resolution [AOx - AG] Analog Output in voltage mode Voltage [AOx - AG] [AOx - AG] Current Resistance [AOx - AG] [AOx - AG] Resolution UR5e PolyScope X User Manual...
  • Page 81 Wait For options and expressions. In the drop-down menus under Communication Interface, select required values. Any changes in values are immediately sent to the tool. If any installation values differ from what the tool is using, a warning appears. User Manual UR5e PolyScope X...
  • Page 82 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 UR5e PolyScope X User Manual...
  • Page 83 Dual Pin Dual Pin Power is used as a source of power for the tool. Enabling Dual Pin Power disables Power default tool digital outputs. User Manual UR5e PolyScope X...
  • Page 84 Do not press and hold the ON input or the POWER button without saving. • Use the OFF input for remote off control to allow the Control Box to save open files and shut down correctly. UR5e PolyScope X User Manual...
  • Page 85 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 UR5e PolyScope X...
  • Page 86 TO0/PWR Digital Outputs 0 or 0V/12V/24V TO1/GND Digital Outputs 1 or Ground POWER 0V/12V/24V Digital Inputs 0 Digital Inputs 1 Ground NOTICE The Tool Connector must be manually tightened up to a maximum of 0.4 Nm. UR5e PolyScope X User Manual...
  • Page 87 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 UR5e PolyScope X...
  • Page 88 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. UR5e PolyScope X User Manual...
  • Page 89 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 UR5e PolyScope X...
  • Page 90 Failure to tighten bolts properly cause injury due to loss of the adapter flange and/or end effector. • 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. UR5e PolyScope X User Manual...
  • Page 91 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 UR5e PolyScope X...
  • Page 92 *** 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. UR5e PolyScope X User Manual...
  • Page 93 Connect the wires Power (gray) to TO0 (blue) and Ground (red) to TO1 (pink). NOTICE Once the robot makes an Emergency Stop, the voltage is set to 0V for both Power Pins (power is off). User Manual UR5e PolyScope X...
  • Page 94 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 UR5e PolyScope X User Manual...
  • Page 95 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 UR5e PolyScope X...
  • Page 96 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 UR5e PolyScope X User Manual...
  • Page 97 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 UR5e PolyScope X...
  • Page 98 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. UR5e PolyScope X User Manual...
  • Page 99 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 UR5e PolyScope X...
  • Page 100 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. UR5e PolyScope X User Manual...
  • Page 101 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 UR5e PolyScope X...
  • Page 102 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. UR5e PolyScope X User Manual...
  • Page 103 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 UR5e PolyScope X...
  • Page 104 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 UR5e PolyScope X User Manual...
  • Page 105 9.2. 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 106 9.2.1. 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 107 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 UR5e PolyScope X...
  • Page 108 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 UR5e PolyScope X User Manual...
  • Page 109 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 UR5e PolyScope X...
  • Page 110 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:   UR5e PolyScope X User Manual...
  • Page 111 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 UR5e PolyScope X...
  • Page 112 10.1. General Cybersecurity Description Connecting a Universal Robots robot to a network can introduce cybersecurity risks. These risks can be mitigated by using qualified personnel and implementing specific measures for protecting the robot's cybersecurity. Implementing cybersecurity measures requires conducting a cybersecurity threat assessment.
  • Page 113 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 UR5e PolyScope X...
  • Page 114 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. UR5e PolyScope X User Manual...
  • Page 115 11. Communication Networks 11. 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 UR5e PolyScope X...
  • Page 116 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. UR5e PolyScope X User Manual...
  • Page 117 The PROFINET network protocol enables or disables the connection of the robot to an industrial PROFINET IO-Controller. If the connection is enabled, you can select the action that occurs when a program loses PROFINET IO-Controller connection. User Manual UR5e PolyScope X...
  • Page 118 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. UR5e PolyScope X User Manual...
  • Page 119 PolyScope X ignores the loss of Profinet connection, and the program Ignore continues to run. PolyScope X pauses the current program. The program resumes from where it Pause stopped. Stop PolyScope X stops the current program. User Manual UR5e PolyScope X...
  • Page 120 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. UR5e PolyScope X User Manual...
  • Page 121 11. Communication Networks Unsuccessful If you see the "Incorrect PIN code", please review your PIN code from myUR. connect User Manual UR5e PolyScope X...
  • Page 122 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". UR5e PolyScope X User Manual...
  • Page 123 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 UR5e PolyScope X...
  • Page 124 You should feel when the latching is disengaged, indicating the push-button is reset. Verify the situation and whether to reset the emergency stop. After resetting the emergency stop, restore power to the robot and resume operation. UR5e PolyScope X User Manual...
  • Page 125 Unnecessary moving of the robot arm can lead to property damage. • Do not move the joint more than 160 degrees, to ensure the robot can find its original physical position. • Do not move any joint more than necessary. User Manual UR5e PolyScope X...
  • Page 126 *** 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. UR5e PolyScope X User Manual...
  • Page 127 Automatic indicates the operational mode of the robot is set to Automatic. • Manual indicates the operational mode of the robot is set to Manual. PolyScope X is automatically in Manual Mode when the Safety I/O configuration with Three- Position Enabling Device is enabled. User Manual UR5e PolyScope X...
  • Page 128 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 129 It should be made clear if the e-Stop on the Teach Pendant stops the whole installation or only its connected robot. If there could be confusion, store the Teach Pendant such that the e-Stop button is not visible or usable. User Manual UR5e PolyScope X...
  • Page 130 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 131 The robot does continuous monitoring. 14.2. Robot Arm Cleaning and Inspection Description As part of regular maintenance the robot arm can be cleaned, in accordance with the recommendations in this manual and local requirements. User Manual UR5e PolyScope X...
  • Page 132 Drying: Finally, the cleaned surface may be left to air dry or dried using towels. WARNING DO NOT USE BLEACH in any diluted cleaning solution. UR5e PolyScope X User Manual...
  • Page 133 • 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. User Manual UR5e PolyScope X...
  • Page 134 14. 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 135 14. Maintenance and Repair Robot Arm NOTICE Inspection Using compressed air to clean the robot arm can damage the robot arm Plan components. • Never use compressed air to clean the robot arm. User Manual UR5e PolyScope X...
  • Page 136 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. UR5e PolyScope X User Manual...
  • Page 137 15. 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 138 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. UR5e PolyScope X User Manual...
  • Page 139 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 UR5e PolyScope X...
  • Page 140 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. UR5e PolyScope X User Manual...
  • Page 141 • 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 142 One area (left) is defined for radial motions when the wrist 1 joint is at least 750 mm from the base of the robot. The other area (right) is within 200 mm of the base of the robot, when moving tangentially. UR5e PolyScope X User Manual...
  • Page 143 The Y-axis is the distance from where the stop is initiated to the final position. The payload CoG is at the tool flange. Joint 0 (BASE) Stopping distance in meters for 33% of 5kg Stopping distance in meters for 66% of 5kg User Manual UR5e PolyScope X...
  • Page 144 5kg Joint 0 (BASE) Stopping time in seconds for 33% of 5kg Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg UR5e PolyScope X User Manual...
  • Page 145 33% of 5kg Stopping distance in meters for 66% of 5kg Stopping distance in meters for maximum payload of 5kg Joint 1 (SHOULDER) Stopping time in seconds for 33% of 5kg User Manual UR5e PolyScope X...
  • Page 146 Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg Joint 2 (ELBOW) Stopping distance in meters for 33% of 5kg Stopping distance in meters for 66% of 5kg UR5e PolyScope X User Manual...
  • Page 147 5kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 5kg Stopping time in seconds for 66% of 5kg Stopping time in seconds for maximum payload of 5kg User Manual UR5e PolyScope X...
  • Page 148 17. Declaration of Incorporation (original) 17. Declaration of Incorporation (original) UR5e PolyScope X User Manual...
  • Page 149 3 = UR3e, 5 = UR5e, 7 = UR7e, 0 = UR10e (10kg payload), 1 = UR12e, 2 = UR10e (12.5kg), 6 = UR16e Incorporation: Universal Robots e-Series (UR3e, UR5e, UR7e, UR10e, UR12e and UR16e) shall only be put into service upon being integrated into a final complete machine (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 150  e-Series  2=UR10e (12.5kg), 6=UR16e  sequential numbering, restarting at 0 each year Universal Robots e-Series (UR3e, UR5e, UR7e, UR10e, UR12e and UR16e) shall only be put into service upon being integrated into a final Incorporation: complete machine (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 151 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 UR5e PolyScope X...
  • Page 152 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 153 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 154 20. Certificates 20. Certificates TÜV Rheinland UR5e PolyScope X User Manual...
  • Page 155 20. Certificates TÜV Rheinland North America User Manual UR5e PolyScope X...
  • Page 156 (Cr+6) (PBDE) UR Robots 机器人：基本系统 UR3 / UR5 / UR10 /  UR3e / UR5e /UR7e  UR10e/UR12e/ UR16e /UR15e/ 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.   UR5e PolyScope X User Manual...
  • Page 157 20. Certificates KC Safety User Manual UR5e PolyScope X...
  • Page 158 20. Certificates Registration UR5e PolyScope X User Manual...
  • Page 159 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 UR5e PolyScope X...
  • Page 160 Software Name: PolyScope X Software Version: 10.9 10.12.17 Document Version: 718-732-00...
  • Page 161 718-732-00...