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
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
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
- 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
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
- 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

Universal Robots CB3 User Manual (205 pages)

US version

Brand: Universal Robots | Category: Robotics | Size: 7 MB

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
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
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
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
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
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

Universal Robots CB3 Kinematic Calibration Manual (26 pages)

Brand: Universal Robots | Category: Robotics | Size: 6 MB

Table of Contents
2
1 Plate Calibration

3
2 Dual Robot Calibration

4
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
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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User Manuals: Universal Robots CB3 Robot Arm

Universal Robots CB3 User Manual (223 pages)

Table of Contents

Preface

I Hardware Installation Manual

1 Safety

2 Safety-Related Functions and Interfaces

3 Transportation

4 Mechanical Interface

5 Electrical Interface

6 Maintenance and Repair

7 Disposal and Environment

8 Certiﬁcations

9 Warranties

A Stopping Time and Stopping Distance

B Declarations and Certiﬁcates

C Applied Standards

D Technical Speciﬁcations

Polyscope Manual

10 Safety Conﬁguration

11 Begin Programming

12 On-Screen Editors

13 Robot Control

14 Programming

15 Setup Screen

III EUROMAP 67 Interface

16 Introduction

17 Robot and IMM Integration

18 Gui

19 Installing and Uninstalling the Interface

20 Electrical Characteristics

Glossary

Index

Universal Robots CB3 User Manual (205 pages)

Table of Contents

Preface

I Hardware Installation Manual

1 Safety

2 Safety-Related Functions and Interfaces

3 Transportation

4 Mechanical Interface

5 Electrical Interface

6 Maintenance and Repair

7 Disposal and Environment

8 Certiﬁcations

9 Warranties

A Stopping Time and Stopping Distance

B Declarations and Certiﬁcates

C Applied Standards

D Technical Speciﬁcations

Polyscope Manual

10 Safety Conﬁguration

11 Begin Programming

12 On-Screen Editors

13 Robot Control

14 Programming

15 Setup Screen

Glossary

Index

Universal Robots CB3 Original Instructions Manual (193 pages)

Table of Contents

Preface

I Hardware Installation Manual

1 Safety

2 Transportation

3 Mechanical Interface

4 Electrical Interface

5 Safety-Related Functions and Interfaces

6 Maintenance and Repair

7 Disposal and Environment

8 Certiﬁcations

9 Warranties

A Stopping Time and Stopping Distance

B Declarations and Certiﬁcates

C Applied Standards

D Technical Speciﬁcations

Polyscope Manual

10 Introduction

11 On-Screen Editors

12 Robot Control