Universal Robots UR10 Manuals

Manuals and User Guides for Universal Robots UR10. We have 8 Universal Robots UR10 manuals available for free PDF download: User Manual, Service Manual, Manual, Original Instructions Manual, Installation Manual

Universal Robots UR10 User Manual (205 pages)

US version

Brand: Universal Robots | Category: Robotics | Size: 7.85 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 UR10 Service Manual (123 pages)

with CB3.0/3.1-controller

Brand: Universal Robots | Category: Robotics | Size: 7.64 MB

Table of Contents
2
1 General Information

4
- Purpose
  4
- Company Details
  5
- Disclaimer
  5
- Preventive Maintenance
  6
  - Controller
    6
    
    Inspection Plan, Safety Functions
    6
    
    Visual Inspection
    8
    
    Cleaning and Replacement of Filters
    8
  - Robot Arm
    9
    
    Visual Inspection
    9
3 Service and Replacement of Parts

10
- Robot Arm
  10
  - Before Returning any Part to Universal Robots
    10
  - Robot Arm Configuration
    11
  - Brake Release
    12
  - General Guidance to Separate Joint from Counterpart
    13
  - Torque Values
    17
  - Base Joint - Base Mounting Bracket
    18
  - Shoulder Joint - Base Joint
    20
  - Upper Arm - Shoulder Joint
    22
  - Elbow Joint - Upper Arm
    24
  - Wrist 1 Joint - Lower Arm
    26
  - Wrist 2 Joint - Wrist 1 Joint
    28
  - Wrist 3 Joint - Wrist 2 Joint
    30
  - Tool Flange - Wrist 3 Joint
    30
  - Instructions for Calibrating a Joint
    32
  - Dual Robot Calibration
    40
  - Change Joint ID
    41
  - Joint Spare Part Adaptation
    43
- Controller
  44
4 Software

64
- Update Software
  64
- Update Joint Firmware
  66
- Using Magic Files
  69
5 Troubleshooting

70
- Error Codes
  70
- LED Indicators and Fuses on Safety Control Board
  92
- Error Phenomena
  94
- Electrical Documentation
  101
  - Schematic Overview
    101
  - E-Plan Diagrams
    107
6 Spare Parts

120
- Spare Part List
  120
- Service Kit
  121
7 Packing of Robot

122
8 Change Log

123

Universal Robots UR10 Service Manual (103 pages)

Brand: Universal Robots | Category: Robotics | Size: 6.77 MB

Table of Contents
2
General Information
4
Purpose
4
Company Details
5
Disclaimer
5
Preventive Maintenance
6
Controller
6
Inspection Plan, Safety Functions
6
Visual Inspection
7
Cleaning and Replacement of Filters
7
Robot Arm
8
Visual Inspection
8
Service and Replacement of Parts
9
Robot Arm
9
Robot Arm Configuration
9
Brake Release
10
General Guidance to Separate Joint from Counterpart
11
Torque Values
14
Base Joint - Base Mounting Bracket
15
Shoulder Joint - Base Joint
17
Upper Arm - Shoulder Joint
19
Elbow Joint - Upper Arm
21
Elbow Counterpart - Elbow Joint
21
Wrist 1 Joint - Lower Arm
23
Wrist 2 Joint - Wrist 1 Joint
25
Wrist 3 Joint - Wrist 2 Joint
27
Tool Flange - Wrist 3 Joint
27
Joint Calibration
29
Change Joint ID
35
Controller
37
Handling ESD-Sensitive Parts
37
Replacement of Motherboard
41
Replacement of Safety Control Board
44
Replacement of Teach Pendant
46
Replacement of 48V Power Supply
47
Replacement of 12V Power Supply
50
Replacement of Current Distributor
51
Software
52
Update Software
52
Update Joint Firmware
54
Using Magic Files
57
Troubleshooting
58
Error Codes
58
LED Indicators on Safety Control Board
74
Error Phenomena
75
Controlbox: no CONTROLLER Displayed in Initializing
75
CABLE Displayed During Power up
76
Force Limit Protective Stop
77
Power on Failure in Initializing
78
Checklist after a Collision
81
Electrical Documentation
82
Schematic Overview
82
E-Plan Diagrams
87
Spare Parts
100
Spare Part List
100
Service Kit
101
Packing of Robot
102
Change Log
103

Universal Robots UR10 Service Manual (101 pages)

with CB2-controller valid from robot s/n 2012208573/4

Brand: Universal Robots | Category: Robotics | Size: 5.41 MB

Table of Contents
2
1 General Information

4
- Purpose
  4
- Company Details
  5
- Disclaimer
  5
2 Preventive Maintenance

6
- Controller
  6
- Robot Arm
  8
  - Visual Inspection
    8
3 Service and Replacement of Parts

9
- Robot Arm
  9
  - Robot Arm Configuration
    10
  - Brake Release
    11
  - IMPORTANT - Replacing CB2 Joints with CB3 Sparepart Joints
    12
  - Replacement of Base Mounting Bracket
    24
  - Replacement of Base Joint
    27
  - Replacement of Shoulder Joint
    30
  - Replacement of Elbow Joint
    32
  - Replacement of Wrist 1 Joint
    36
  - Replacement of Wrist 2 Joint
    42
  - Replacement of Wrist 3 Joint
    46
  - Replacement of Tool Mounting Bracket
    50
  - Torque Values
    53
  - Joint Calibration
    54
  - Change Joint ID
    60
  - Joint Spare Part Adaptation CB2
    62
- Controller
  63
4 Software

75
- Update Software
  75
- Update Joint Firmware
  77
- Using Magic Files
  80
5 Troubleshooting

81
- Error Codes
  81
- Normal Startup Procedure on a CB2 UR5
  88
- Error Phenomena
  89
- Schematic Drawing
  96
  - Tool Connector
    97
6 Spare Parts

98
- Spare Part List
  98
- Tool Part List
  99
7 Packing of Robot

100
8 Changelog

101

Universal Robots UR10 User Manual (58 pages)

General purpose industrial robot

Brand: Universal Robots | Category: Robotics | Size: 9.66 MB

Table of Contents
3
1 Getting Started

5
- Introduction
  5
  - The Robot
    6
  - Programs
    6
  - Safety Evaluation
    7
- Turning on and off
  7
- Quick Start, Step by Step
  8
- Mounting Instructions
  10
  - The Workspace of the Robot
    10
  - Mounting the Robot
    10
  - Mounting the Tool
    10
  - Mounting the Controller Box
    13
  - Mounting the Teach Pendant
    13
  - Connecting the Robot Cable
    13
  - Connecting the Mains Cable
    13
2 Electrical Interface

15
- Introduction
  15
- Important Notices
  15
- The Safety Interface
  16
- Controller I/O
  21
  - Digital Outputs
    22
  - Digital Inputs
    23
  - Analog Outputs
    24
  - Analog Inputs
    25
- Tool I/O
  26
  - Digital Outputs
    27
  - Digital Inputs
    28
  - Analog Inputs
    28
3 Safety

31
- Introduction
  31
- Statutory Documentation
  31
- Risk Assessment
  32
- Emergency Situations
  33
4 Warranties

35
- Product Warranty
  35
- Disclaimer
  35
5 Declaration of Incorporation

37
A Euromap67 Interface

43
- Introduction
  43
  - Euromap67 Standard
    44
- Robot and IMM Integration
  44
- Gui
  46
- Installing and Uninstalling the Interface
  53
  - Installing
    54
  - Uninstalling
    54
- Electrical Characteristics
  55
  - MAF Light Guard Interface
    55
  - Emergency Stop, Safety Devices and MAF Signals
    55
  - Digital Inputs
    56
  - Digital Outputs
    56
B Certiﬁcations

57

Universal Robots UR10 Manual (21 pages)

Brand: Universal Robots | Category: Robotics | Size: 2.84 MB

Table of Contents
3
1 General Information

4
- Purpose
  4
- Company Details
  4
- Disclaimer
  4
2 UR Log Viewer

5
- Intro
  5
- Applicable to
  5
- Requirements
  5
- Installation
  5
- Download UR Log Viewer
  5
- Steps to Install
  5
- How to Use the UR Log Viewer
  9
- Type of Files Supported
  9
- Loading the File
  9
- Log Reader Tab
  10
- Flight Records
  11
- Log Start
  13
- Log Analysis Tab
  15
- Record Data Tab
  16
- Export from Robot Tab
  17
- Help Tab
  18
3 Type of Messages

20
4 Change Log

21

Universal Robots UR10 Original Instructions Manual (20 pages)

Brand: Universal Robots | Category: Robotics | Size: 2.04 MB

Universal Robots UR10 Installation Manual (12 pages)

Brand: Universal Robots | Category: Robotics | Size: 0.32 MB

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Universal Robots UR10 Manuals

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

Table of Contents

1 General Information

3 Service and Replacement of Parts

4 Software

5 Troubleshooting

6 Spare Parts

7 Packing of Robot

8 Change Log

Table of Contents

Table of Contents

1 General Information

2 Preventive Maintenance

3 Service and Replacement of Parts

4 Software

5 Troubleshooting

6 Spare Parts

7 Packing of Robot

8 Changelog

Table of Contents

1 Getting Started

2 Electrical Interface

3 Safety

4 Warranties

5 Declaration of Incorporation

A Euromap67 Interface

B Certiﬁcations

Table of Contents

1 General Information

2 UR Log Viewer

3 Type of Messages

4 Change Log

Table of Contents

Table of Contents

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