Page 1 User Manual UR15 Original instructions (en) PolyScope 5...
Page 2 UR15 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...
Page 4 UR15 User Manual...
Page 5 Contents 1. Liability and Intended Use 1.1. Limitation of Liability 1.2. Intended Use 2. Your Robot 2.1. Technical Specifications UR15 2.2. Teach Pendant with 3-Position Enabling Device 2.2.1. 3PE Teach Pendant Button Functions 2.2.2. Using the 3PE Buttons 2.3. PolyScope Overview 2.3.1. Icons/Tabs On PolyScope 3. Light Ring...
Page 6 8.12.1. Tool I/O 8.12.2. Maximum Payload 8.12.3. Securing Tool 8.12.4. Set Payload 8.12.5. Tool I/O Installation Specifications 8.12.6. Tool Power Supply 8.12.7. Tool Digital Outputs 8.12.8. Tool Digital Inputs 8.12.9. Tool Analogue Inputs 8.12.10. Tool Communication I/O UR15 User Manual...
Page 7 9.5.1. Tool Direction Restriction 9.5.2. Tool Position Restriction 10. Cybersecurity Threat Assessment 10.1. General Cybersecurity 10.2. Cybersecurity Requirements 10.3. Cybersecurity Hardening Guidelines 10.4. Passwords 10.5. Password Settings 10.6. Administrator Password 10.7. Operational Password 11. Communication Networks 11.1. MODBUS 11.2. EtherNet/IP 11.3. PROFINET User Manual UR15...
Page 8 14.5. Accessing Robot Data 15. Disposal and Environment 16. Risk Assessment 16.1. Pinch Hazard 16.2. Stopping Time and Stopping Distance 16.3. Commissioning 17. Declaration of Incorporation (original) 18. Declarations and Certificates 19. Certifications UR15 20. Certificates UR15 21. Safety Functions Table 21.1. Table 1a 21.2. Table 2 UR15 User Manual...
Page 9 User Manual UR15...
Page 10 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 11 • 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 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 UR15...
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 Manuals, guides and handbooks can be read online. We have gathered a large number of manuals documents at https://www.universal-robots.com/manuals • 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 UR15...
Page 16 2. Your Robot 2.1. Technical Specifications UR15 Robot type UR15 Maximum payload 17.5 kg (38.6 lbs) Reach 1300 mm / 51.2 in Degrees of freedom 6 rotating joints PolyScope 5 GUI on 12" touchscreen. Programming or PolyScope X GUI on 12" touchscreen. 550 W (max.) Power consumption (average) Approx. 350 W using a typical program...
Page 17 Header. NOTICE • If you have bought a UR15, UR20 or UR30 robot, a Teach Pendant without the 3PE device will not work. • Using a UR15, UR20, or UR30 robot requires an external enabling device or a 3PE Teach Pendant when programming, or teaching, within the reach of the robot application.
Page 18 2. Your Robot Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. UR15 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 UR15...
Page 20 2. Your Robot Button release Button press UR15 User Manual...
Page 21 2. Your Robot User Manual UR15...
Page 22 Using Move Robot into Position Description Move Robot into Position allows the robot arm to move to that start position, after you complete a program. The robot arm must be in the start position before you can run the program. UR15 User Manual...
Page 23 Now, on PolyScope, press and hold Automove for the robot arm to move to the start position. The Play Program screen appears. Maintain a light-press on the 3PE button to run your program. Release the 3PE button to stop your program. User Manual UR15...
Page 24 2. Your Robot UR15 User Manual...
Page 25 For best results, use the tip of your finger to make a selection on the screen. In this manual, this is referred to as a "tap". A commercially available stylus may be used to make selections on the screen if desired. User Manual UR15...
Page 26 Manual indicates the operational mode of the robot is set to Manual. Tap it to switch to the Automatic operational mode. Remote The Local mode and Remote mode icons only become accessible if you enable Remote Control Control. UR15 User Manual...
Page 27 High Speed High Speed Manual Mode is a hold-to-run function, only available in Manual mode when a Manual Three-Position Enabling Device is configured. Mode High Speed Manual Modeallows both tool speed and elbow speed to temporarily exceed 250mm/s. User Manual UR15...
Page 28 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 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...
Page 30 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 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...
Page 32 Adhere to the requirements in ISO 10218-2. 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 User Manual...
Page 33 • Read the commissioning information. 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...
Page 34 *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 5. Lifting and Handling 5. Lifting and Handling User Manual UR15...
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 User Manual...
Page 37 If the sling is provided, equipment for lifting and transport is required. 5.1.1. Round Sling Use Description The round sling is provided by UR with UR15, UR20 and UR30 robots. According to the manufacturer, the round sling conforms to the following standards: •...
Page 38 Choke Hitch 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 User Manual...
Page 39 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...
Page 40 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 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...
Page 42 : 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 User Manual...
Page 43 The values stated in the following tables are maximum nominal loads in worst-case movements multiplied with a safety factor of 2.5. The actual loads will not exceed these values. Robot Model Mz [Nm] Fz[N] [Nm] UR15 1310 2430 1730 1720 Maximum joint torques during category 0, 1 and 2 stops. Robot Model...
Page 44 The Control Box can be hung on a wall or placed on the ground. 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 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...
Page 46 To mount a 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 User Manual...
Page 47 A wet Control Box can cause fatal injury. • Make sure the Control Box and cables do not come into contact with liquids. • Place the Control Box (IP44) in an environment suited for the IP rating. User Manual UR15...
Page 48 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 User Manual...
Page 49 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...
Page 50 (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 User Manual...
Page 51 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...
Page 52 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 User Manual...
Page 53 • 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...
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 User Manual...
Page 55 Always verify the payload and installation setting are correct. NOTICE 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...
Page 56 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 User Manual...
Page 57 If the robot arm mounting is verifed, you can tap START to continue releasing all the joint brakes, preparing the robot arm for operation. The Getting Started screen can be displayed, prompting you to begin programming the robot. User Manual UR15...
Page 58 Red Power off. The robot arm is in a stopped state. • Yellow Idle. The robot arm is on, but not ready for normal operation. • Green Normal. The robot arm is on and ready for normal operation. UR15 User Manual...
Page 59 To tell the controller about the direction of gravity. WARNING Failure to mount the robot arm correctly can result in frequent stops. WARNING Verify and use the correct installation settings. Save and load the installation files with the program. User Manual UR15...
Page 60 An advanced dynamics model gives the robot arm smooth and precise motions and allows the robot arm to hold itself in Freedrive. For this reason, it is important to mount the robot arm correctly. UR15 User Manual...
Page 61 To use the 3PE TP button to freedrive the robot arm: Pendant Rapidly light-press, release, light-press again and keep holding the 3PE button in this position. Now you can pull the robot arm into a desired position, while the light-press is maintained. User Manual UR15...
Page 62 In some situations, such as when the robot is close to collision, these vibrations are undesirable. Use Backdrive to force specific joints to a desired position without releasing all brakes in the robot arm. UR15 User Manual...
Page 63 Freedrive You can lock one or more of the axes allowing the TCP to move in a particular direction, as Panel icons defined in the table below. User Manual UR15...
Page 64 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 User Manual...
Page 65 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 66 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 67 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 UR15...
Page 68 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 UR15 User Manual...
Page 69 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 UR15...
Page 70 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. UR15 User Manual...
Page 71 In the Teach Pendant drop-down list, select 3PE Enabled. Tap Apply to restart the system. PolyScope continues to run. Tap Confirm Safety Configuration to complete the 3PE Teach Pendant software installation. As the robot restarts and initializes, light-press the 3PE button and tap Start on PolyScope. User Manual UR15...
Page 72 Yellow with black text 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 User Manual...
Page 73 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...
Page 74 The electrical specifications for both the internal and external power supply are shown below. 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 User Manual...
Page 75 [EIx/SIx/CIx/DIx] Function PNP + Type [EIx/SIx/CIx/DIx] IEC 61131-2 Type *For resistive loads or inductive loads of maximum 1H. 8.5.1. I/O Interface Control Description The I/O Interface Control allows you to switch between user control and URcap control. User Manual UR15...
Page 76 (see I/O); those which are reserved will have the name of the safety function in place of the default or user defined name. Configurable outputs that are reserved for safety settings are not togglable and will be displayed as LED’s only. UR15 User Manual...
Page 77 On the I/O screen, the Tool Input field appears as shown. Interface Dual Pin power When Dual Pin Power is enabled, the tool digital outputs must be named as follows: • tool_out[0] (Power) • tool_out[1] (GND) User Manual UR15...
Page 78 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 User Manual...
Page 79 In the Side Menu on the left, tap General and select I/O Setup. Under Output, select one of the digital_out outputs. Tap the Action in program dropdown. Select High when drive power is on, otherwise Low. User Manual UR15...
Page 80 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 User Manual...
Page 81 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...
Page 82 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 User Manual...
Page 83 The robot is delivered with a default configuration, which enables operation without any configuration additional safety equipment. 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...
Page 84 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 User Manual...
Page 85 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...
Page 86 8. Installation UR15 User Manual...
Page 87 0.5s after the input is triggered. If the robot arm continues to violate any of the reduced limits, a 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...
Page 88 • 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 User Manual...
Page 89 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...
Page 90 (i.e., for a Wait command or the conditional expression of an If command). The Wait and If commands are described in (Wait) and (If), respectively. You can find named general purpose registers in the Input or Output selector on the Expression Editor screen. UR15 User Manual...
Page 91 If the robot is paused while using the Start input action, the robot slowly moves to the position from where it was paused before resuming that program. User Manual UR15...
Page 92 Continuous Pulse the program to high and maintain the pulse state) Program An unscheduled program termination can occur for any of the reasons listed below: Termination • Robot stop Cause • Fault • Violation • Runtime exception UR15 User Manual...
Page 93 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 UR15...
Page 94 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 UR15 User Manual...
Page 95 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 UR15...
Page 96 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 UR15 User Manual...
Page 97 Use remote ON/OFF control to turn the Control Box on and off without using the Teach 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. User Manual UR15...
Page 98 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. UR15 User Manual...
Page 99 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 100 AI3 / RS485- 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). UR15 User Manual...
Page 101 The robot's capacity to accelerate can be reduced if the payload CoG exceeds the robot's reach and payload. You can verify the reach and payload of your robot in the Technical Specifications. Payload [kg] Center of gravity offset [mm] The relationship between the rated payload and the center of gravity offset. User Manual UR15...
Page 102 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. UR15 User Manual...
Page 103 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. User Manual UR15...
Page 104 A correctly configured payload weight ensures optimal robot movement. Setting the payload correctly ensures optimal motion performance and avoids robot stops. • When setting up the payload for use in a pick and place program, using a gripper. Set Payload UR15 User Manual...
Page 105 Setting a transition time larger than zero, prevents the robot from doing a small "jump", when the payload changes. The program continues while the adjustment is taking place. Using the Payload Transition Time is recommended when picking up or releasing heavy objects or using a vacuum gripper. User Manual UR15...
Page 106 The green icon in the drop-down menu indicates the default configured Payload Setting the Tap the fields CX, CY and CZ to set the center of gravity. The settings apply to the selected Center of Payload. Gravity UR15 User Manual...
Page 107 Ensure the TCP positions are as different as possible from each other • Perform the measurements within a short timespan • Avoid pulling on the tool and/or attached payload before and during estimation • Robot mounting and angle must be correctly defined in the installation User Manual UR15...
Page 108 The inertia is specified in a coordinate system with the origin at the Center of Gravity (CoG) of Values the payload and the axes aligned with the tool flange axes. The default inertia is calculated as the inertia of a sphere with the user specified mass, and a mass density of 1g/cm UR15 User Manual...
Page 109 *** 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...
Page 110 Tap Tool IO and select Dual Pin Power. 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). UR15 User Manual...
Page 111 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 User Manual UR15...
Page 112 10.7 k 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. UR15 User Manual...
Page 113 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 User Manual UR15...
Page 114 Robot field. Tap the Start button, for the robot to release its brake system. The robot vibrates and makes clicking sounds, indicating it is ready to be programmed. NOTICE Learn to program your Universal Robots robot on www.universal- robots.com/academy/ UR15...
Page 115 Robot Arm into place while holding down the Freedrive button at the top of the Teach Pendant. You can create a program can to send I/O signals to other machines at certain points in the robot’s path, and perform commands like if…then and loop, based on variables and I/O signals. User Manual UR15...
Page 116 Do not increase the speed or acceleration above the default values. Always conduct a risk assessment before placing the robot into operation. WARNING Keep your head and torso outside the reach (workspace) of the robot. Do not place fingers where they can be caught. UR15 User Manual...
Page 117 The same installation can be used with multiple programs. All program variables and installation variables in your program are displayed in the Variables pane as a list showing the Name, Value and Description of the variable. User Manual UR15...
Page 118 Description necessary. You can also collapse and expand the Description column by using the column buttons shown below. To collapse/expand the Description column 1. Tap to collapse the Description column. 2. Tap to expand the Description column. UR15 User Manual...
Page 119 Collapsed Description column Expanded Description column User Manual UR15...
Page 120 Tap Stop to stop the running program Stop You cannot resume a stopped program. You can tap Play to restart the program. To pause a program Tap Pause to pause a program at a specific Pause point. You can resume a paused program. UR15 User Manual...
Page 121 Manual Tap Manual to access the Move screen where the Robot Arm can be moved by using the Move Tool arrows and/or configuring Tool Position and Joint Position coordinates. User Manual UR15...
Page 122 You can use the Basic, Advanced and Template dropdowns to the very left. • The right side contains the configuration of the program nodes you can add to your program. You can use Command, Graphics and Variables options. UR15 User Manual...
Page 123 • You cannot run an empty program tree or a program containing incorrectly Adding configured program nodes. program nodes • Incorrectly configured programs nodes are higlighted in yellow. • Correctly configured program nodes are highlighted in white. User Manual UR15...
Page 124 Search You can also search for a specific command/program node. This is useful when you have a Button long program with many different program nodes. UR15 User Manual...
Page 125 Delete removes a node from the Program Tree. Suppress suppresses specific nodes on the Program Tree. search in the Program Tree. Search Button Tap the icon to exit search. User Manual UR15...
Page 126 In the Footer, tap Play. a selected Select Play from Selection to run a program from a node in the program tree. node Example You can start a stopped program again from a specific node. UR15 User Manual...
Page 127 Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and deceleration. The level of the cruise phase is given by the speed setting of the motion, while the steepness of the acceleration and deceleration phases is given by the acceleration parameter. User Manual UR15...
Page 128 MoveJ makes movements that are calculated in the robot arm joint space. Joints are controlled to finish their movements at the same time. This movement type results in a curved path for the tool to follow. UR15 User Manual...
Page 129 Under Basic, tap Move and select MoveP from the drop-down menu. Adding a MoveP with OptiMove is also similar to adding a MoveJ with OptiMove. Once you select the node, simply navigate to the Motion Controls dropdown and select OptiMove. User Manual UR15...
Page 130 A mode is used to calculate tool orientation, through the circular arc. The mode can be: • Fixed: only the start point is used to define the tool orientation. • Unconstrained: the start point transforms to the EndPoint to define tool orientation. UR15 User Manual...
Page 131 Therefore, the robot arm movement for a variable waypoint changes if another feature is selected. • You can change a feature’s position while the program is running by assigning a pose to its corresponding variable. User Manual UR15...
Page 132 Move command, and from there to each of the following waypoints. Command The Move command settings do not apply to the path going from the last waypoint under that Move command. UR15 User Manual...
Page 133 In your Robot Program, select the place where you wish to add a Move. Add a waypoint to a Under Basic, tap Move. robot program A waypoint is added to the robot program together with the Move node. User Manual UR15...
Page 134 Move command. The relationship between the feature and the TCP, applied to the current selected feature, achieves the desired TCP location. The robot calculates how to position the arm to allow the current active TCP to reach the desired TCP position. UR15 User Manual...
Page 135 When the robot TCP is no longer in proximity of the limit, the 3D representation disappears. If the TCP is in violation or very close to violating a boundary limit, the visualization of the limit turns red. User Manual UR15...
Page 136 , defined by a horizontal bar. Once the limit is reached you cannot move a joint any further. You can configure joints with a position range different from the default, this new range is indicated with red zone inside the horizontal bar. UR15 User Manual...
Page 137 Once you access the Pose Editor screen, you can precisely configure a target joint positions, or a target pose (position and orientation) for the TCP. Note: This screen is offline and does not control the Robot Arm directly. User Manual UR15...
Page 138 The Robot Arm moves to the specified target. If the last specified value was a tool coordinate, the Robot Arm moves to the target position using movement type MoveL; or it uses movement type MoveJ if a joint position was specified last. UR15 User Manual...
Page 139 Cancel The Cancel button exits the screen discarding all changes. Button User Manual UR15...
Page 140 9.3. Safety-related Functions and Interfaces Description Universal Robots robots are equipped with a range of built-in safety functions as well as safety I/O, digital and analog control signals to or from the electrical interface, to connect to other machines and additional protective devices. Each safety function and I/O is constructed according to EN ISO13849-1 with Performance Level d (PLd) using a category 3 architecture.
Page 141 9.3.1. Configurable Safety Functions Description Universal Robots robot safety functions, as listed in the table below, are in the robot but are meant to control the robot system i.e. the robot with its attached tool/end effector. The robot safety functions are used to reduce robot system risks determined by the risk assessment.
Page 142 As the robot stretches out, the knee-joint effect can give high forces in the radial direction (away from the base) at low speeds. Similarly, the short leverage arm, when the tool/end effector is close to the base and moving around the base, can cause high forces at low speeds. UR15 User Manual...
Page 143 3PE Stop (if a 3-Position Enabling device is connected) Stop Category 2 Limit Violation Stop Category 0 Fault Detection Stop Category 0 NOTICE If the safety system detects any fault or violation, all safety outputs re- set to low. User Manual UR15...
Page 144 This can happen in either of the following circumstances: • Switching from the reduced configuration to normal • Switching from the normal configuration to reduced The robot arm adapts to the new safety limits within the 500 ms. UR15 User Manual...
Page 145 Failure to use caution when moving the robot arm in recovery mode can lead to hazardous situations. • Use caution when moving the robot arm back within the limits, as limits for the joint positions, the safety planes, and the tool/end effector orientation are all disabled in recovery mode. User Manual UR15...
Page 146 Safety configuration settings for set-up and teaching before the robot arm is powered on for the first time. All safety configuration settings accessible on this screen and sub-tabs. The integrator must ensure that all changes to the safety configuration settings comply with the risk assessment. UR15 User Manual...
Page 147 If a Safety password was previously set, enter the password and press Unlock to make settings accessible. Note: Once Safety settings are unlocked, all settings are now active. Press Lock tab or navigate away from the Safety menu to lock all Safety item settings again. User Manual UR15...
Page 148 On the left of the screen, in the blue menu, press Password and select Safety. In New password, type a password. Now, in Confirm new password, type the same password and press Apply. In the bottom left of the blue menu, press Exit to return to previous screen. UR15 User Manual...
Page 149 Place following text in the operators’ manuals: Before working near the robot, make sure that the safety configuration is as expected. This can be verified e.g. by inspecting the Safety Checksum in the top right corner of PolyScope for any changes. User Manual UR15...
Page 150 The Safety Checksum changes if you change the Safety Functions settings, because the Safety Checksum is only generated by the safety settings. You must apply your changes to the Safety Configuration for the Safety Checksum to reflect your changes. UR15 User Manual...
Page 151 In the Header tap Installation. Pendant In the Side Menu on left tap Safety and select Hardware. Input Safety password and Unlock the screen. Deselect Teach Pendant to use robot without PolyScope interface. Press Save and restart to implement changes. User Manual UR15...
Page 152 • Manual indicates the operational mode of the robot is set to Manual. Connect to the Dashboard server. Using the Dashboard Use the Set Operational Mode commands. Server • Set Operational Mode Automatic • Set Operational Mode Manual • Clear Operational Mode UR15 User Manual...
Page 153 Factory Presets is where you can use the slider to select a predefined safety setting . The Presets values in the table are updated to reflect the preset values ranging from Most Restricted to Least Restricted NOTICE Slider values are only suggestions and do not substitute a proper risk assessment. User Manual UR15...
Page 154 Limits maximum force that the robot tool exerts on the environment to Tool Force prevent clamping situations. Elbow Speed Limits maximum robot elbow speed. Limits maximum force that the elbow exerts on the environment to Elbow Force prevent clamping situations. UR15 User Manual...
Page 155 Joint limits allow you to restrict individual robot joint movements in joint space i.e. joint rotational position and joint rotational speed. Joint limiting can also be called software based axis limiting. The joint limit options are: Maximum speed and Position range. User Manual UR15...
Page 156 UR15 User Manual...
Page 157 In the Side Menu on the left of the screen, under Safety, select I/O. On the I/O screen in the Output Signal, under Function Assignment, in drop-down menu, select Safe Home. Tap Apply and in the dialog box that appears, select Apply and restart. User Manual UR15...
Page 158 Tap Edit Position and set the new robot arm position and tap OK. In the Side Menu, under Safety, select Safe Home. You need a Safety password to Unlock the Safety Settings. Under Safe Home, tap Sync from Home UR15 User Manual...
Page 159 Pressing this icon hides or shows the safety plane in the Show graphics pane. Deletes the created safety plane. There is no undo/redo Delete action. If a plane is deleted in error, it must be remade. Rename Pressing this icon allows you to rename the plane. User Manual UR15...
Page 160 If the copied feature is modified in the Features screen, a warning icon appears to the right of the Copy Feature text. This indicates that the feature is out of sync i.e. the information in the properties card is not updated to reflect the modifications that may have been made to the Feature. UR15 User Manual...
Page 161 The side of the plane the tool and/or elbow is allowed to be on (For Green Arrow Trigger Planes) The side of the plane the tool and/or elbow is allowed to be on (For Gray Arrow Disabled Planes) User Manual UR15...
Page 162 UR3e 0.1 m UR5e 0.13 m UR10e / UR16e 0.15 m UR15 0.15 m UR20 / UR30 0.19 m The information about the specific radius can be found in the urcontrol.conf file on the robot under the section [Elbow]. Tool Flange...
Page 163 When working with an unrestricted tool flange and a defined tool, it is ensured that the dangerous part of the tool can't go above and/or beyond certain area. The unrestricted tool flange can be used for any application where safety planes are needed, like Welding or Assembly. User Manual UR15...
Page 164 (TIP: Change the display of rotation from “Rotation Vector [rad]” to “RPY [°]”) If needed it is possible to offset the plane in either positive or negative Z-direction later in the safety settings. When satisfied with the position of the plane, tap OK. UR15 User Manual...
Page 165 Configuration of the tool direction is based on features. We recommend you create desired feature(s) before editing the safety configuration, as once the Safety Tab has been unlocked, the robot arm powers off making it impossible to define new features. User Manual UR15...
Page 166 • Pan angle: How much to rotate the tilted Z axis around the original output flange Z axis. Alternatively, the Z axis of an existing TCP can be copied by selecting that TCP from the drop-down menu. UR15 User Manual...
Page 167 Tool_1 is the default tool defined with values x=0.0, y= 0.0, z=0.0 and radius=0.0. These values represent the robot tool flange. Under Copy TCP, you can also select Tool Flange and cause the tool values to go back to 0. A default sphere is defined at the tool flange. User Manual UR15...
Page 168 You can rename the tool by pressing the pencil tab next to the displayed tool name. You can also determine the Radius with an allowed range of 0-300 mm. The limit appears in the graphics pane as either a point or a sphere depending on radius size. UR15 User Manual...
Page 169 Tap the edit button to rename Tool_x to something more identifiable. Edit the Radius and Position to match that of the tool you are currently using, or use the Copy TCP drop-down and choose a TCP from the General>TCP settings if such is defined. User Manual UR15...
Page 170 DONE. The warning on the Tool Position button indicates a tool is not added under Tool Flange. Tool Position button without the warning indicates a tool (other than the Tool Flange) is added. UR15 User Manual...
Page 171 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 172 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 • UR15 User Manual...
Page 173 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. User Manual UR15...
Page 174 In the bottom left of the blue menu, press Exit to return to previous screen. You can press the Lock tab to lock all Safety settings again or simply navigate to a screen outside of the Safety menu. UR15 User Manual...
Page 175 Creating a strong, secret password obtains the best security for your system. Under Confirm new password, repeat your new password. Tap Apply to confirm your password change. Safety The Safety password prevents unauthorized modification of the Safety settings. User Manual UR15...
Page 176 Under Password, tap Mode. Password Under New password, create a new password. Creating a strong, secret password obtains the best security for your system. Under Confirm new password, repeat your new password. Tap Apply to confirm your password change. UR15 User Manual...
Page 177 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: • MODBUS • Ethernet/IP • PROFINET • PROFIsafe User Manual UR15...
Page 178 The signal indicator turns yellow if the actual signal frequency is less than half of the value selected from the Frequency drop-down list. Add signal Push this button to add a signal to the corresponding MODBUS unit. Delete Push this button to delete a MODBUS signal from the corresponding MODBUS unit. signal UR15 User Manual...
Page 179 Here, the current value of the signal is shown. For register signals, the value is expressed as value an unsigned integer. For output signals, the desired signal value can be set using the button. Again, for a register output, the value to write to the unit must be supplied as an unsigned integer. User Manual UR15...
Page 180 SLAVE DEVICE BUSY (0x06) Specialized use in conjunction with programming commands sent to the remote MODBUS unit, the slave (server) is not able to respond now. Show This check box shows/hides the advanced options for each signal. Advanced Options UR15 User Manual...
Page 181 The average frequency of client (master) signal status updates. Actual freq. This value is recalculated each time the signal receives a response from the server (or slave). All counters count up to 65535, and then wrap back to 0. User Manual UR15...
Page 182 PolyScope pauses the current program. The program resumes from Pause where it stopped. PolyScope stops the current program. Stop If the PROFINET engineering tool (e.g. TIA portal) emits a DCP Flash signal to the robot's PROFINET or PROFIsafe device, a popup in PolyScope is displayed. UR15 User Manual...
Page 183 Reduced Activates the Reduced safety limits. Activates either manual or automatic operational mode. If the safety configuration "Operational mode selection via Operational mode PROFIsafe" is disabled, this field shall be omitted from the PROFIsafe control message. User Manual UR15...
Page 184 The signal follows the safeguard reset semantics. A configured safeguard stop reset functionality shall be used to reset this signal. PROFIsafe implies use of the safeguard reset functionality. UR15 User Manual...
Page 185 Robot is moving. If any joint moves at a velocity of 0.02 rad/s or Robot moving higher the robot is considered in motion. Robot is at rest (robot not moving), and in the position defined as Safe home position the Safe Home Position. User Manual UR15...
Page 186 PROFIsafe is enabled. The robot is now setup to communicate with a safety PLC. You cannot release the robot's brakes if the PLC is not responding or if it is misconfigured. UR15 User Manual...
Page 187 If you delay or dismiss, the update will only refresh when there is a new version. Follow the update steps. Restart PolyScope when the update is complete. NOTICE You can still update UR Connect even if it is NOT installed. User Manual UR15...
Page 188 Hold the push-button and twist clockwise until the latching disengages. 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 User Manual...
Page 189 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...
Page 190 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 User Manual...
Page 191 2. Remove the black flat-ring. 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...
Page 192 12. 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 User Manual...
Page 193 Execute Programs speed** Start program from selected node *Only when no Three-Position Enabling Device is configured. ** If a Three-Position Enabling Device is configured, the robot operates at Manual Reduced Speed unless High Speed Manual Mode is activated. User Manual UR15...
Page 194 3PE Teach Pendant must be used. A 3PE Teach Pendant (3PE TP) is recommended for programming. If another person can be within the safeguarded space when in Manual Mode, an additional device can be integrated and configured for the additional person's use. UR15 User Manual...
Page 195 The robot joints feel heavy to move, while Backdrive is in use. You can use any of the following sequences to enable Backdrive: • 3PE Teach Pendant • 3PE device/switch • Freedrive on robot User Manual UR15...
Page 196 Now you can apply significant pressure to release the brake in a desired joint to move the robot arm. As long as the hold is maintained on the Freedrive on robot, Backdrive is enabled, allowing the arm to move. UR15 User Manual...
Page 197 Backdrive Inspection Description If the robot is close to colliding with something, you can use Backdrive to move the robot arm to a safe position before initializing. 3PE Teach Pendant User Manual UR15...
Page 198 Verify the robot safety settings comply with the robot installation risk assessment. settings Additional safety inputs Check which safety inputs and outputs are active and that they can be triggered via and outputs PolyScope or external devices. are still functioning UR15 User Manual...
Page 199 User Manual UR15...
Page 200 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 201 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 UR15...
Page 202 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 203 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. User Manual UR15...
Page 204 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. UR15 User Manual...
Page 205 • 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 UR15...
Page 206 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 207 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 UR15...
Page 208 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. UR15 User Manual...
Page 209 The last column shows a short description of the message itself. Some log messages are designed to provide more information that is displayed on the right side, after selecting the log entry. User Manual UR15...
Page 210 Robot Stop • Unhandled exception in URCap • Violation The exported report contains: a user program, a history log, an installation and a list of running services. Robot stop was previously known as "Protective Stop" for Universal Robots robots. UR15 User Manual...
Page 211 The export process can take up to 10 minutes depending on USB drive speed and the size of files collected from robot file system. The report is saved as a regular zip file, that is not password protected, and can be edited before sending to technical support. User Manual UR15...
Page 212 In the Program and Installation Manager, tap Open... and select Program. To load On the Load Program screen, select an existing program and tap Open. progra In the File Path, verify that the desired program name is displayed. UR15 User Manual...
Page 213 In the Program and Installation Manager, tap Save... and select Save Installation As... On the Save Robot Installation screen, assign a file name and tap Save. Select Set Installation to set installation for the current Program. In File Path, verify that the new installation name is displayed. User Manual UR15...
Page 214 Program is saved, with the existing name and location. 14.5. Accessing Robot Data Description Use the About option to access and display different types of data about the robot. You can display the following types of robot data: • General • Version • Legal UR15 User Manual...
Page 215 For the other data types you can: • Tap Version to display more detailed data about the robot's software version. • Tap Legal to display data about the robot's software license/s. Tap Close to return to your screen. User Manual UR15...
Page 216 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 217 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...
Page 218 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 User Manual...
Page 219 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...
Page 220 • 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 221 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...
Page 222 The Y-axis is the distance from where the stop is initiated to the final position. 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 User Manual...
Page 223 16. Risk Assessment Stopping distance in meters for 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...
Page 224 Stopping time in seconds for maximum payload of 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 User Manual...
Page 225 (SHOULDER) 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...
Page 226 16. Risk Assessment Stopping distance in meters for 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 User Manual...
Page 227 16. Risk Assessment Stopping time in seconds for maximum payload of 17.5 kg User Manual UR15...
Page 228 • Test the system connected to Robot Moving output, Robot Not Stopping output, Reduced output, or Not Reduced output to verify the output changes are detected. • Determine the commissioning requirements of your robot application. UR15 User Manual...
Page 229 17. Declaration of Incorporation (original) 17. Declaration of Incorporation (original) User Manual UR15...
Page 230 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 231 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 232 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. UR15 User Manual...
Page 233 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 234 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 235 20. Certificates UR15 20. Certificates UR15 China RoHS Management Methods for Controlling Pollution by Electronic Information Products Product Declaration Table For Toxic or Hazardous Substances 表1 有毒有害物质或元素名称及含量标识格式 Product/Part Toxic and Hazardous Substances and Elements Name 有毒有害物质或元素产品/部件名称六价多溴二苯醚镉汞多溴联苯铅 Hexavalent Polybrominated Mercury Cadmium Polybrominated Lead (Pb) Chromium diphenyl ethers (Hg) (Cd) biphenyls (PBB) (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 ...
Page 236 20. Certificates UR15 UR15 User Manual...
Page 237 21. Safety Functions Table Description Universal Robots safety functions and safety I/O are PLd Category 3 (ISO 13849-1), where each safety function has a PFH value less than 1.8E-07. The PFH values are updated to include greater design flexibility for supply chain resilience.
Page 238 Exceeding the internal joint torque limit (each joint) results in a Cat 0 . This is not accessible to the user; it is a factory Limit setting. It is NOT shown as an e-Series safety function because there are no user settings and no user configurations. UR15 User Manual...
Page 239 Robot current to the robot arm as well as the robot speed. This safety function current/torque dynamically limits the current/ torque but maintains the speed. User Manual UR15...
Page 240 LOW. See below. The functional safety rating is for what is within the UR robot. The integrated connection to Output functional safety performance requires adding this PFH to the PFH of the external logic (if any) and its logic and/or components. equipment UR15 User Manual...
Page 241 1.7 ° robot is in the configured logic and/or monitored “safe home position”. A stop cat 0 is initiated if the output is activated when “safe home position” equipment the robot is not in the configured position. User Manual UR15...
Page 242 Descriptions of STO, SS1 and SS2 are in IEC 61800-5-2. With UR robots, a stop category 2 maintains the trajectory, then retains power to the drives after stopping. It is recommended to use the UR Stop Time and Stop Distance Safety Functions. These limits should be used for your application stop time/ safety distance values. UR15 User Manual...
Page 243 Recommendation: Use with 3PE TP and/or 3 Position Enabling Device INPUT. When Freedrive INPUT is High, the robot will only enter Freedrive if the following conditions are satisfied: Robot • 3PE TP button is not pressed • 3 Position Enabling Device INPUT either not configured or not pressed (INPUT Low) User Manual UR15...
Page 244 UR robots but this is for programming in manual mode and not for • a 3-position enabling device collaborative operation in automatic mode. • a safety-rated monitored stop function • a settable safety-rated monitored speed function UR15 User Manual...
Page 245 ONSET of application to thereby lessen pressures and pain, not injury. See Annex A. See ISO/TR 20218-1 forces caused by the end-effector and End-effectors. workpiece(s). User Manual UR15...
Page 246 Software Name: PolyScope 5 Software Version: 5.22 10.12.18 Document Version: 718-890-00...
Page 247 718-890-00...

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