Universal Robots E Series Manuals

Manuals and User Guides for Universal Robots E Series. We have 3 Universal Robots E Series manuals available for free PDF download: Original Instructions Manual, Service Manual

Universal Robots E Series Original Instructions Manual (291 pages)

Brand: Universal Robots | Category: Robotics | Size: 17.61 MB

Table of Contents
5
Preface
15
What Do the Boxes Contain
16
Important Safety Notice
17
How to Read this Manual
17
Where to Find more Information
17
UR Forums
17
Part I Hardware Installation Manual
19
Safety
21
Introduction
21
Validity and Responsibility
21
Limitation of Liability
22
Warning Symbols in this Manual
22
General Warnings and Cautions
23
Intended Use
25
Risk Assessment
26
Pre-Use Assessment
28
Emergency Stop
29
Movement Without Drive Power
29
Safety-Related Functions and Interfaces
31
Introduction
31
Stop Categories
31
Configurable Safety Functions
32
Safety Function
36
Modes
36
Transportation
39
Mechanical Interface
41
Introduction
41
Workspace of the Robot
41
Mounting
41
Maximum Payload
44
Payload Inertia
45
Electrical Interface
46
Introduction
46
Control Box Bracket
46
Ethernet
46
Electrical Warnings and Cautions
47
Controller I/O
49
Common Specifications for All Digital I/O
50
Safety I/O
51
General Purpose Digital I/O
56
Digital Inputs from a Button
56
Communication with Other Machines or Plcs
57
General Purpose Analog I/O
57
Remote ON/OFF Control
58
Mains Connection
59
Robot Connection: Robot Cable
61
Robot Cable Connector
61
Robot Connection: Base Flange Cable
62
Base Flange Cable Connector
62
Tool I/O
63
Tool Power Supply
64
Power Supply
64
Dual Pin Power Supply
64
Tool Digital Outputs
65
Tool Digital Inputs
66
Tool Analog Input
67
Tool Communication I/O
68
Maintenance and Repair
69
Safety Instructions
69
Cleaning
70
Inspection
70
Robot Arm Inspection Plan
70
Robot Arm Visual Inspection
71
Control Box Inspection Plan
72
Control Box Visual Inspection
72
Freedrive Inspection
73
Disposal and Environment
74
Certifications
75
Warranties
77
Product Warranty
77
Disclaimer
78
Stopping Time and Stopping Distance
79
Declarations and Certificates
82
Certificates
84
Applied Standards
92
Technical Specifications
97
Safety Functions Tables
99
Table
99
Table
107
Part II Polyscope Manual
111
Introduction
113
Robot Arm Basics
113
Polyscope Basics
113
Touch Screen
114
Header Icons/Tabs
114
Footer Buttons
116
Installation
116
Installing the Robot Arm and Control Box
116
Turning the Control Box On/Off
117
Initialization
117
Starting up the Robot Arm
118
Quick System Start-Up
119
The First Program
119
Robot Registration and Urcap License Files
120
Registering the Robot from Your Current Screen
121
Downloading the URCAP License File
121
Unregistering Robot
122
Robot Cyber Security
122
Cyber Security Pre-Requisites
122
Hardening Cyber Security
123
Freedrive
125
Enabling Freedrive: Standard Teach Pendant
126
Using the Freedrive Button
127
Using the Freedrive Button on the Move Tab Screen
127
Enabling Freedrive: 3PE Teach Pendant
127
Backdrive
128
Enabling Backdrive: Standard Teach Pendant
128
Enabling Backdrive: 3PE Teach Pendant
128
Operational Mode Selection
129
Operational Modes
129
Three-Position Enabling Device
131
Manual High Speed
131
Safety Configuration
133
Safety Settings Basics
133
Accessing Safety Configuration
133
Setting a Safety Password
134
Changing the Safety Configuration
134
Applying New Safety Configuration
135
Safety Checksum
135
Safety Menu Settings
135
Robot Limits
135
Safety Modes
137
Tolerances
138
Joint Limits
138
Planes
139
Modes
139
Configuring Safety Planes
140
Elbow
141
Color Codes
141
Freedrive
142
Using the Freedrive Button
142
Backdrive
142
Enabling Backdrive
142
Tool Position
143
Tool Direction
144
Limit Properties
145
Tool Properties
146
I/O
146
Input Signals
146
Output Signals
147
OSSD Safety Signals
148
Hardware
149
Selecting Available Hardware
149
Safe Home Position
149
Syncing from Home
150
Safe Home Output
150
Defining Safe Home Output
150
Edit Safe Home
150
Editing Safe Home
151
Run Tab
153
Program
153
Variables
153
Robot Age
154
Move Robot into Position
154
Accessing the Move Robot into Position Screen
154
Move Robot to
155
Manual
155
Program Tab
157
Program Tree
157
Program Execution Indication
158
Search Button
158
Program Tree Toolbar
158
Undo/Redo Buttons
158
Move up & down
158
Cut
158
Copy
159
Paste
159
Delete
159
Suppress
159
Command: Suppress
159
Expression Editor
159
Command: Variables Initialization
160
Starting a Program from a Selected Node
161
Using Play from Selection
161
Using Breakpoints in a Program
161
Single Step in a Program
163
Command Tab
163
Graphics Tab
164
Variables Tab
165
Basic Program Nodes
166
Move
166
Fixed Waypoint
169
Relative Waypoint
174
Variable Waypoint
175
Direction
176
Until
177
Until-Tool Contact
177
Wait
179
Set
180
Popup
180
Halt
181
Comment
182
Folder
182
Set Payload
183
Advanced Program Nodes
184
Loop
184
Subprogram
186
Assignment
187
Script
187
Event
188
Thread
189
Switch
189
Timer
190
Home
191
Templates
191
Palletizing
191
Seek
197
Force
201
Force Value Selection
203
Speed Limits
203
Test Force Settings
203
Conveyor Tracking
204
Screwdriving
205
Screwdrive until
206
Urcaps
207
Remote TCP and Toolpath Urcap
207
Remote TCP Movement Types
209
Remote TCP Waypoint
209
Remote TCP Toolpath
210
Remote TCP
212
Remote TCP PCS
212
Regular TCP Toolpath Moves
215
Installation Tab
219
General
219
TCP Configuration
219
Position
219
Orientation
219
Adding, Renaming, Modifying and Removing Tcps
220
Teaching TCP Position
220
Teaching TCP Orientation
221
Payload
221
Adding, Renaming, Modfying and Removing Payloads
222
Setting the Center of Gravity
222
Payload Estimation
223
Inertia
223
Mounting
224
I/O Setup
225
I/O Signal Type
225
Assigning User-Defined Names
226
I/O Actions and I/O Tab Control
226
Installation Variables
228
Startup
229
Loading a Startup Program
230
Starting a Startup Program
230
Tool I/O
230
I/O Interface Control
230
Tool Analog Inputs
231
Tool Communication Interface
231
Configuring the Tool Communication Interface (TCI)
231
Digital Output Mode
231
Dual Pin Power
232
Smooth Transition between Safety Modes
232
Adjusting Acceleration/Deceleration Settings
232
Home
233
Defining Home
233
Conveyor Tracking Setup
233
Defining a Conveyor
234
Conveyor Parameters
234
Tracking Parameters
234
Screwdriving Setup
235
Configuring a Screwdriver
235
Configuring the Screwdriver Position
235
Configuring the Screwdriver Interface
237
Safety
237
Features
237
Using a Feature
239
Using Move here
239
Point Feature
239
Line Feature
240
Plane Feature
241
Example: Manually Updating a Feature to Adjust a Program
242
Example: Dynamically Updating a Feature Pose
243
Feature Edit
245
Fieldbus
246
MODBUS Client I/O Setup
247
Refresh
247
Add Unit
247
Delete Unit
247
Set Unit IP
247
Sequential Mode
248
Add Signal
248
Delete Signal
248
Set Signal Type
248
Set Signal Address
249
Set Signal Name
249
Signal Value
249
Signal Connectivity Status
249
Show Advanced Options
250
Advanced Options
250
Ethernet/Ip
250
Move Tab
253
Move Tool
253
Robot
253
Feature
254
Active TCP
254
Home
254
Freedrive
254
Align
254
Tool Position
254
Joint Position
254
Pose Editor Screen
255
I/O Tab
259
Robot
259
Modbus
260
Log Tab
263
Readings and Joint Load
263
Date Log
263
Saving Error Reports
264
Technical Support File
265
Program and Installation Manager
267
Open
267
New
268
Save
269
File Manager
270
Hamburger Menu
273
Help
273
About
273
Settings
273
Preferences
273
Password
274
System
275
Backup and Restore
275
Update
275
Network
276
Managing Urcaps
276
Remote Control
277
Security
278
Running Magic Files
278
Configure Inbound Connections
279
Authentication
280
Managing Authorized Keys
280
Shutdown Robot
280
Glossary
282
Index
283

Universal Robots E Series Original Instructions Manual (199 pages)

Brand: Universal Robots | Category: Robotics | Size: 8.5 MB

Table of Contents
3
Introduction
11
Robot Arm Basics
11
Polyscope Basics
11
Touch Screen
12
Header Icons/Tabs
12
Footer Buttons
14
Installation
14
Installing the Robot Arm and Control Box
14
Turning the Control Box On/Off
15
Initialization
15
Starting up the Robot Arm
16
Quick System Start-Up
17
The First Program
17
Robot Registration and License File
18
Activate Remote TCP & Toolpath Urcap Via Web
19
Activate the Software Licenses Via Myur
19
Deactivate Software Licenses
20
Robot Cyber Security
20
Cyber Security Pre-Requisites
20
Hardening Cyber Security
21
Freedrive
23
Enabling Freedrive: Standard Teach pendant
24
Using the Freedrive Button
25
Using the Freedrive Button on the Move Tab Screen
25
Enabling Freedrive: 3PE Teach pendant
25
Backdrive
26
Enabling Backdrive: Standard Teach pendant
26
Enabling Backdrive: 3PE Teach pendant
26
Backdrive Mode Inspection
26
Operational Mode Selection
29
Operational Modes
29
Three-Position Enabling Device
31
Manual High Speed
31
Safety Configuration
33
Safety Settings Basics
33
Accessing Safety Configuration
33
Setting a Safety Password
34
Changing the Safety Configuration
34
Applying New Safety Configuration
35
Safety Checksum
35
Safety Menu Settings
35
Robot Limits
35
Safety Modes
37
Tolerances
38
Joint Limits
38
Planes
39
Modes
39
Configuring Safety Planes
40
Elbow
41
Color Codes
41
Freedrive
42
Using the Freedrive Button
42
Backdrive
42
Enabling Backdrive
42
Tool Position
43
Tool Direction
44
Limit Properties
45
Tool Properties
46
I/O
46
Input Signals
46
Output Signals
47
OSSD Safety Signals
48
Hardware
49
Selecting Available Hardware
49
Safe Home Position
49
Syncing from Home
50
Safe Home Output
50
Defining Safe Home Output
50
Edit Safe Home
50
Editing Safe Home
51
Run Tab
53
Program
55
Variables
55
Robot Age
56
Move Robot into Position
56
Accessing the Move Robot into Position Screen
56
Move Robot to
57
Manual
57
Program Tab
59
Move Robot into Position
59
Accessing the Move Robot into Position Screen
59
Move Robot to
60
Manual
60
Program Tree
60
Program Tree Toolbar
61
Variable Setup
61
Program Execution Indication
63
Expression Editor
64
Starting a Program from a Selected Node
64
Using Play from Selection
65
Using Breakpoints in a Program
65
Single Step in a Program
67
Command Tab
67
Add before Start Sequence
67
Program Loops Forever
67
Graphics Tab
68
Variables Tab
69
Basic Program Nodes
70
Move
70
Fixed Waypoint
73
Relative Waypoint
78
Variable Waypoint
79
Direction
80
Until
81
Until-Tool Contact
81
Wait
83
Set
84
Popup
84
Halt
85
Comment
86
Folder
86
Set Payload
87
Advanced Program Nodes
88
Loop
88
Subprogram
90
Assignment
91
Script
91
Event
92
Thread
93
Switch
93
Timer
94
Home
95
Templates
95
Palletizing
95
Seek
101
Force
105
Force Value Selection
107
Speed Limits
107
Test Force Settings
107
Conveyor Tracking
108
Screwdriving
109
Screwdrive until
110
Urcaps
111
Remote TCP and Toolpath Urcap
111
Remote TCP Movement Types
113
Remote TCP Waypoint
113
Remote TCP Toolpath
114
Remote TCP
116
Remote TCP PCS
116
Regular TCP Toolpath Moves
119
Installation Tab
123
General
123
TCP Configuration
123
Position
123
Orientation
123
Adding, Renaming, Modifying and Removing Tcps
124
Teaching TCP Position
124
Teaching TCP Orientation
125
Payload
125
Adding, Renaming, Modfying and Removing Payloads
126
Setting the Center of Gravity
126
Payload Estimation
127
Inertia
127
Mounting
128
I/O Setup
129
I/O Signal Type
129
Assigning User-Defined Names
130
I/O Actions and I/O Tab Control
130
Installation Variables
132
Startup
133
Loading a Startup Program
134
Starting a Startup Program
134
Tool I/O
135
I/O Interface Control
135
Tool Analog Inputs
136
Tool Communication Interface
136
Configuring the Tool Communication Interface (TCI)
136
Digital Output Mode
136
Dual Pin Power
137
Smooth Transition between Safety Modes
137
Adjusting Acceleration/Deceleration Settings
137
Home
137
Defining Home
138
Conveyor Tracking Setup
138
Defining a Conveyor
138
Conveyor Parameters
138
Tracking Parameters
139
Screwdriving Setup
139
Configuring a Screwdriver
140
Configuring the Screwdriver Position
140
Configuring the Screwdriver Interface
141
Safety
141
Features
142
Using a Feature
143
Using Move here
144
Point Feature
144
Line Feature
144
Plane Feature
145
Example: Manually Updating a Feature to Adjust a Program
146
Example: Dynamically Updating a Feature Pose
147
Feature Edit
149
Fieldbus
151
MODBUS Client I/O Setup
151
Refresh
151
Add Unit
151
Delete Unit
152
Set Unit IP
152
Sequential Mode
152
Add Signal
152
Delete Signal
152
Set Signal Type
152
Set Signal Address
153
Set Signal Name
153
Signal Value
153
Signal Connectivity Status
153
Show Advanced Options
154
Advanced Options
154
Ethernet/Ip
155
Profinet
155
Profisafe
155
Communicating Via Profisafe
156
Configuring Profisafe
158
Enabling Profisafe
159
Move Tab
161
Move Tool
161
Robot
161
Feature
162
Active TCP
162
Home
162
Freedrive
162
Align
162
Tool Position
162
Joint Position
162
Pose Editor Screen
163
I/O Tab
167
Robot
167
Modbus
168
Log Tab
171
Readings and Joint Load
171
Date Log
171
Saving Error Reports
172
Technical Support File
173
Program and Installation Manager
175
Open
175
New
176
Save
177
File Manager
178
Hamburger Menu
181
Help
181
How to Find the QR Code and URL
181
About
182
Settings
183
Preferences
183
Admin Password
183
System
185
Backup and Restore
185
Software Update
185
Network
186

Universal Robots E Series Service Manual (205 pages)

Robot arm

Brand: Universal Robots | Category: Robotics | Size: 12.68 MB

Table of Contents
3
1 General Information

7
- Purpose
  7
- Company Details
  8
- Disclaimer
  8
- Safety Message Types
  9
2 Handling ESD-Sensitive Parts

10
3 Recommended Inspection Activities

15
- Robot Arm
  15
  - Inspection Plan
    15
  - Visual Inspection
    16
  - Functional Inspection
    16
  - Cleaning
    16
- Control Box and Teach Pendant
  17
  - Inspection Plan
    17
  - Functional and Safety Inspection
    18
  - Visual Inspection
    22
  - Cleaning
    22
4 Service and Replacement of Parts

23
- Pre-Use Assessment
  23
- Recommended Tools
  24
- Robot Arm
  25
  - Movement Without Drive Power
    26
  - General Guidance to Separate Joint from Counterpart
    27
  - Joint Connection Types
    29
  - Torque Values
    29
  - Power and Communication Connector Types on the Joint
    30
  - Connector Location on Joints
    31
  - Screw Connection
    34
  - Bracket Connection
    39
  - Tool Flange
    44
  - Joint Verification
    45
  - Zeroing of Joints
    47
  - Dual Robot Calibration
    53
  - Program Correction by Key Waypoints
    53
- Control Box
  54
5 Software

73
- Software Updates
  73
  - Update Procedure
    74
  - Update Timeline
    78
  - Downgrading Vs. Restoring System Backup
    79
- Using Support File
  80
- Using Magic Files
  81
- Backup of Data
  82
6 Troubleshooting

84
- Adding External Equipment for Troubleshooting Purpose
  84
- Support Log Reader(SLR)
  85
- Error Codes
  86
- LED Indicators and Fuse on Safety Control Board
  137
  - LED Indicators on Safety Control Board
    137
  - Fuse
    139
- Complete Rebooting Sequence
  140
- Protective Stop
  141
7 Electrical Drawings

143
8 Spare Parts

145
- Robot Arm
  146
  - Sealing Ring Set Ur3E - 103703
    147
  - Sealing Ring Set Ur5E - 103705
    148
  - Sealing Ring Set Ur10E/Ur16E -103700
    149
  - Lid Set for Ur3E - 103413
    150
  - Lid Set for Ur5E - 103405
    151

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Universal Robots E Series Manuals

Universal Robots E Series Original Instructions Manual (291 pages)

Table of Contents

Universal Robots E Series Original Instructions Manual (199 pages)

Table of Contents

Universal Robots E Series Service Manual (205 pages)

Table of Contents

1 General Information

2 Handling ESD-Sensitive Parts

3 Recommended Inspection Activities

4 Service and Replacement of Parts

5 Software

6 Troubleshooting

7 Electrical Drawings

8 Spare Parts

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