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User Manuals: Universal Robots CB3 Robot Arm
Manuals and User Guides for Universal Robots CB3 Robot Arm. We have
5
Universal Robots CB3 Robot Arm manuals available for free PDF download: User Manual, Original Instructions Manual, Kinematic Calibration Manual, Manual
Universal Robots CB3 User Manual (223 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 13 MB
Table of Contents
Table of Contents
5
Preface
11
What Do the Boxes Contain
11
Important Safety Notice
12
How to Read this Manual
12
Where to Find more Information
12
I Hardware Installation Manual
13
1 Safety
15
Introduction
15
Validity and Responsibility
15
Limitation of Liability
16
Warning Symbols in this Manual
16
General Warnings and Cautions
17
Intended Use
19
Risk Assessment
19
Emergency Stop
21
Movement Without Drive Power
21
2 Safety-Related Functions and Interfaces
23
Introduction
23
Stopping Times of the Safety System
24
Limiting Safety-Related Functions
24
Safety Modes
25
Safety-Related Electrical Interfaces
27
Safety-Related Electrical Inputs
27
Safety-Related Electrical Outputs
28
3 Transportation
31
4 Mechanical Interface
33
Introduction
33
Workspace of the Robot
33
Mounting
34
Maximum Payload
37
5 Electrical Interface
39
Introduction
39
Electrical Warnings and Cautions
39
Controller I/O
39
Safety I/O
43
General Purpose Digital I/O
46
General Purpose Analog I/O
47
Digital Input from a Button
47
Remote ON/OFF Control
49
Tool I/O
50
Tool Digital Outputs
51
Tool Digital Inputs
52
Tool Analog Inputs
53
Ethernet
54
Mains Connection
54
Robot Connection
55
6 Maintenance and Repair
57
Safety Instructions
58
7 Disposal and Environment
59
8 Certifications
61
Third Party Certifications
61
Declarations According to EU Directives
62
9 Warranties
63
Product Warranty
63
Disclaimer
64
A Stopping Time and Stopping Distance
65
Stop Category 0 Stopping Distances and Times
66
B Declarations and Certificates
67
CE/EU Declaration of Incorporation (Original
67
Safety System Certificate
68
Environmental Test Certificate
69
EMC Test Certificate
70
B.5 Cleanroom Test Certificates
71
Cleanroom Test Certificates
72
C Applied Standards
73
D Technical Specifications
81
Polyscope Manual
83
10 Safety Configuration
85
Introduction
85
Changing the Safety Configuration
86
Safety Synchronization and Errors
87
Tolerances
88
Safety Checksum
88
Safety Modes
88
Freedrive Mode
89
Password Lock
90
General Limits
91
Joint Limits
93
Boundaries
94
Selecting a Boundary to Configure
95
D Visualization
96
Tool Boundary Configuration
99
Safety I/O
101
Output Signals
103
11 Begin Programming
105
Installing the Robot Arm and Control Box
106
Quick Start
107
Polyscope Programming Interface
108
Welcome Screen
110
Initialization Screen
111
12 On-Screen Editors
113
13 Robot Control
117
Feature and Tool Position
118
I/O Tab
119
MODBUS Client I/O
120
Installation Load/Save
122
Installation TCP Configuration
123
Teaching TCP Position
124
Teaching TCP Orientation
125
Installation Mounting
126
Installation I/O Setup
127
I/O Signal Type
128
Installation Variables
129
Installation MODBUS Client I/O Setup
130
Installation Features
133
Using a Feature
134
New Point
136
New Plane
137
Example: Manually Updating a Feature to Adjust a Program
138
Example: Dynamically Updating a Feature Pose
139
Conveyor Tracking Setup
140
Installation Default Program
141
Starting a Default Program
142
Load Screen
143
Run Tab
145
14 Programming
147
Program Tab
148
Program Execution Indication
149
Undo/Redo Buttons
150
Variables
151
Command: Move
152
Command: Fixed Waypoint
155
Command: Relative Waypoint
160
Command: Variable Waypoint
161
Command: Wait
162
Command: Popup
163
Command: Halt
164
Command: Folder
165
Command: Subprogram
166
Command: Assignment
167
Command: if
168
Command: Script
169
Command: Event
170
Command: Thread
171
Command: Pattern
172
Command: Force
173
Command: Pallet
177
Command: Seek
178
Command: Conveyor Tracking
181
Command: Suppress
182
Structure Tab
183
Variables Tab
184
Command: Variables Initialization
185
15 Setup Screen
187
Language and Units
188
Update Robot
189
Set Password
190
Calibrate Screen
191
Set Time
192
Urcaps Setup
193
III EUROMAP 67 Interface
195
Introduction
197
16 Introduction
198
EUROMAP 67 Standard
198
17 Robot and IMM Integration
201
Mounting the Robot and Tool
202
18 Gui
205
EUROMAP 67 Program Template
205
I/O Overview and Troubleshooting
206
Control
207
Manufacturer Dependent
208
Startup Check
209
Free to Mould
210
Wait for Item
211
Ejector Back
212
Core Pullers out
213
I/O Action and Wait
214
19 Installing and Uninstalling the Interface
215
Uninstalling
216
20 Electrical Characteristics
219
Digital Inputs
220
Glossary
221
Index
223
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Universal Robots CB3 User Manual (205 pages)
US version
Brand:
Universal Robots
| Category:
Robotics
| Size: 7 MB
Table of Contents
Table of Contents
5
Preface
11
What Do the Boxes Contain
11
Important Safety Notice
12
How to Read this Manual
12
Where to Find more Information
12
I Hardware Installation Manual
13
1 Safety
15
Introduction
15
Validity and Responsibility
15
Limitation of Liability
16
Warning Symbols in this Manual
16
General Warnings and Cautions
17
Intended Use
20
Risk Assessment
20
Emergency Stop
22
Movement Without Drive Power
24
2 Safety-Related Functions and Interfaces
25
Introduction
25
Stopping Times of the Safety System
26
Limiting Safety-Related Functions
26
Safety Modes
27
Safety-Related Electrical Interfaces
29
Safety-Related Electrical Inputs
29
Safety-Related Electrical Outputs
30
3 Transportation
33
4 Mechanical Interface
35
Introduction
35
Workspace of the Robot
35
Mounting
36
Maximum Payload
40
5 Electrical Interface
41
Introduction
41
Electrical Warnings and Cautions
42
Controller I/O
43
Common Specifications for All Digital I/O
43
Safety I/O
43
General Purpose Digital I/O
43
General Purpose Analog I/O
43
Remote ON/OFF Control
52
Tool I/O
53
Tool Digital Outputs
54
Tool Digital Inputs
55
Tool Analog Inputs
56
Ethernet
57
Mains Connection
57
Robot Connection
58
6 Maintenance and Repair
61
Safety Instructions
62
7 Disposal and Environment
63
8 Certifications
65
Third Party Certifications
65
Declarations According to EU Directives
66
9 Warranties
67
Product Warranty
67
Disclaimer
68
A Stopping Time and Stopping Distance
69
Stop Category 0 Stopping Distances and Times
70
B Declarations and Certificates
71
CE/EU Declaration of Incorporation (Original)
71
Safety System Certificate
72
Environmental Test Certificate
73
EMC Test Certificate
74
C Applied Standards
75
D Technical Specifications
83
Polyscope Manual
85
10 Safety Configuration
87
Introduction
87
Changing the Safety Configuration
89
Safety Synchronization and Errors
89
Tolerances
90
Safety Checksum
90
Safety Modes
91
Freedrive Mode
91
Password Lock
92
Apply
92
General Limits
93
Joint Limits
96
Boundaries
97
Selecting a Boundary to Configure
98
Visualization
98
Safety Plane Configuration
99
Tool Boundary Configuration
102
Safety I/O
104
Input Signals
104
Output Signals
106
11 Begin Programming
107
Introduction
107
Getting Started
107
Installing the Robot Arm and Control Box
107
Turning the Control Box on and off
108
Turning the Robot Arm on and off
108
Quick Start
109
The First Program
109
Polyscope Programming Interface
111
Welcome Screen
112
Initialization Screen
113
12 On-Screen Editors
117
On-Screen Expression Editor
117
Pose Editor Screen
118
13 Robot Control
121
Move Tab
121
Robot
121
Feature and Tool Position
122
Move Tool
122
Move Joints
122
Freedrive
122
I/O Tab
123
MODBUS Client I/O
124
Automove Tab
125
Installation Load/Save
126
Installation TCP Configuration
127
Adding, Modifying and Removing Tcps
128
The Default and the Active TCP
128
Teaching TCP Position
128
Teaching TCP Orientation
129
Payload
130
Center of Gravity
130
Installation Mounting
131
Installation I/O Setup
132
Installation Safety
133
Installation Variables
133
Installation MODBUS Client I/O Setup
134
Installation Features
137
Conveyor Tracking Setup
141
Installation Default Program
143
Loading a Default Program
143
Starting a Default Program
143
Auto Initialization
143
Log Tab
144
Load Screen
144
Run Tab
147
14 Programming
149
New Program
149
Program Tab
150
Program Tree
150
Program Execution Indication
151
Search Button
151
Undo/Redo Buttons
152
Program Dashboard
152
Variables
153
Command: Empty
154
Command: Move
155
Command: Fixed Waypoint
158
Command: Relative Waypoint
164
Command: Variable Waypoint
165
Command: Wait
166
Command: Set
167
Command: Popup
168
Command: Halt
169
Command: Comment
170
Command: Folder
171
Command: Loop
172
Command: Subprogram
173
Command: Assignment
175
Command: if
176
Command: Script
177
Command: Event
178
Command: Thread
179
Command: Switch
180
Command: Pattern
181
Command: Force
182
Command: Pallet
185
Command: Seek
186
Command: Conveyor Tracking
190
Structure Tab
192
Variables Tab
193
Command: Variables Initialization
194
15 Setup Screen
195
Language and Units
196
Update Robot
197
Set Password
198
Calibrate Screen
199
Setup Network
200
Set Time
201
Urcaps Setup
202
Glossary
203
Index
205
Universal Robots CB3 Original Instructions Manual (193 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 7 MB
Table of Contents
Table of Contents
5
Preface
11
What Do the Boxes Contain
11
Important Safety Notice
12
How to Read this Manual
12
Where to Find more Information
12
I Hardware Installation Manual
13
1 Safety
15
Introduction
15
Validity and Responsibility
15
Limitation of Liability
16
Warning Symbols in this Manual
16
General Warnings and Cautions
17
Intended Use
20
Risk Assessment
20
Emergency Stop
21
Movement Without Drive Power
22
2 Transportation
23
3 Mechanical Interface
25
Workspace of the Robot
25
Mounting
26
4 Electrical Interface
31
Introduction
31
Electrical Warnings and Cautions
32
Controller I/O
33
Common Specifications for All Digital I/O
33
Safety I/O
33
General Purpose Digital I/O
33
General Purpose Analog I/O
33
Remote ON/OFF Control
42
Tool I/O
43
Tool Digital Outputs
44
Tool Digital Inputs
45
Tool Analog Inputs
46
Ethernet
47
Mains Connection
47
Robot Connection
48
5 Safety-Related Functions and Interfaces
51
Limiting Safety-Related Functions
52
Safety Modes
53
Safety-Related Electrical Interfaces
54
Safety-Related Electrical Inputs
54
Safety-Related Electrical Outputs
55
6 Maintenance and Repair
57
Safety Instructions
58
7 Disposal and Environment
59
8 Certifications
61
Third Party Certifications
61
Declarations According to EU Directives
62
9 Warranties
63
Product Warranty
63
Disclaimer
64
A Stopping Time and Stopping Distance
65
A.1 CATEGORY 0 Stopping Distances and Times
65
CATEGORY 0 Stopping Distances and Times
66
B Declarations and Certificates
67
CE Declaration of Incorporation (Original)
67
Safety System Certificate
68
Environmental Test Certificate
69
EMC Test Certificate
70
C Applied Standards
71
D Technical Specifications
77
Polyscope Manual
79
10 Introduction
81
Getting Started
81
Installing the Robot Arm and Control Box
81
Turning the Control Box on and off
82
Turning the Robot Arm on and off
82
Quick Start
82
The First Program
83
Polyscope Programming Interface
84
Welcome Screen
86
Initialization Screen
87
11 On-Screen Editors
89
On-Screen Keypad
89
On-Screen Keyboard
90
On-Screen Expression Editor
91
Pose Editor Screen
91
Robot
92
Feature and Tool Position
93
Move Tool
96
Move Joints
96
Freedrive
96
12 Robot Control
92
I/O Tab
97
MODBUS Client I/O
98
Automove Tab
99
Installation Load/Save
100
Installation TCP Configuration
101
Adding, Modifying and Removing Tcps
102
The Default and the Active TCP
102
Teaching TCP Position
102
Teaching TCP Orientation
103
Payload
104
Center of Gravity
104
Installation Mounting
105
Installation I/O Setup
106
Installation Safety
107
Installation Variables
107
Installation MODBUS Client I/O Setup
109
Installation Features
111
Conveyor Tracking Setup
115
Installation Default Program
117
Loading a Default Program
117
Starting a Default Program
117
Auto Initialization
117
Log Tab
118
Load Screen
118
Run Tab
121
13 Programming
123
New Program
123
Programming II
123
Program Tab
124
Program Tree
124
Program Execution Indication
125
Undo/Redo Buttons
125
Program Dashboard
126
Variables
127
Command: Empty
127
Command: Move
128
Command: Fixed Waypoint
131
Command: Relative Waypoint
133
Command: Variable Waypoint
134
Command: Wait
135
Command: Set
136
Command: Popup
137
Command: Halt
138
Command: Comment
139
Command: Folder
140
Command: Loop
141
Command: Subprogram
142
Command: Assignment
144
Command: if
145
Command: Script
146
Command: Event
147
Command: Thread
148
Command: Pattern
149
Command: Force
150
Command: Pallet
153
Command: Seek
154
Command: Start/Stop Conveyor Tracking
158
Command: Suppress
158
Graphics Tab
158
Structure Tab
160
Variables Tab
161
Command: Variables Initialization
162
14 Setup Screen
163
Language and Units
164
Update Robot
165
Set Password
166
Calibrate Screen
167
Setup Network
168
Set Time
169
15 Safety Configuration
171
Changing the Safety Configuration
172
Safety Synchronization and Errors
173
Tolerances
173
Safety Checksum
174
Safety Modes
174
Freedrive Mode
175
Password Lock
175
Apply
176
General Limits
176
Joint Limits
179
Boundaries
180
Selecting a Boundary to Configure
181
Visualization
182
Safety Plane Configuration
182
Tool Boundary Configuration
186
Safety I/O
189
Glossary
191
Index
193
Advertisement
Universal Robots CB3 Kinematic Calibration Manual (26 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 6 MB
Table of Contents
Table of Contents
2
1 Plate Calibration
3
2 Dual Robot Calibration
4
Required Equipment
5
Mounting the Robots to the Calibration Horse
6
Accessing the Functionality
6
Safety Settings of the Robots
7
Network Connection between the Robots
8
Master Slave Connection
9
Manual Mode
9
Before Starting
10
Mounting the UR Dual Robot Calibration Connector
11
Measuring Positions and Calibration Statistics
13
Applying the Calibration
14
Validation
14
Reset Calibration
16
3 Program Correction by Key-Waypoints
17
Introduction
17
Accessing the Functionality
18
Redefine Key-Waypoints
19
Corresponding Tool Position
20
Waypoints from Multiple Programs
21
Handling Key-Waypoints
21
Correcting a Program
22
Appendices
25
A Dual Robot Tools
25
B Robot DH Parameter
26
Ur3
26
Ur5
26
Ur10
26
Universal Robots CB3 Manual (25 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 10 MB
Table of Contents
Table of Contents
2
Plate Calibration
3
Required Equipment
3
Accessing the Functionality
4
Measuring Positions
5
Calibration
7
Evaluation
8
Calibration Statistics
9
Debugging
9
Applying the Calibration
9
Reset Calibration
10
Dual Robot Calibration
11
Required Equipment
12
Mounting the Robots to the Base Calibration Tool
13
Accessing the Functionality
14
Network Connection between the Robots
14
Master Slave Connection
15
Manual Mode
15
Before Starting
16
Mounting the UR Dual Robot Calibration Connector
17
Measuring Positions and Calibration Statistics
19
Applying the Calibration
20
Validation
21
Reset Calibration
22
Appendices
23
A Calibration Plate
23
B Dual Robot Tools
24
C Robot Parameter
25
Ur5
25
Ur10
25
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