Universal Robots UR10/CB3 Manuals

Manuals and User Guides for Universal Robots UR10/CB3. We have 2 Universal Robots UR10/CB3 manuals available for free PDF download: User Manual, Installation Manual

Universal Robots UR10/CB3 User Manual

Universal Robots UR10/CB3 User Manual (249 pages)

Brand: Universal Robots | Category: Robotics | Size: 16.07 MB

Table of Contents

Table of Contents
3
1 Preface

9
Part I Hardware Installation Manual

11
- Safety
  13
  - Introduction
    13
  - Validity and Responsibility
    13
  - Limitation of Liability
    14
  - Warning Symbols in this Manual
    14
  - General Warnings and Cautions
    15
  - Intended Use
    17
  - Risk Assessment
    18
  - Emergency Stop
    19
  - Movement with and Without Drive Power
    20
- Safety-Related Functions and Interfaces
  21
  - Introduction
    21
  - Stopping Times of the Safety System
    22
  - Limiting Safety-Related Functions
    22
  - Safety Modes
    24
  - Safety-Related Electrical Interfaces
    25
- Transportation
  29
- Mechanical Interface
  31
  - Introduction
    31
  - Workspace of the Robot
    31
  - Mounting
    31
  - Maximum Payload
    34
- Electrical Interface
  37
  - Introduction
    37
  - Electrical Warnings and Cautions
    37
  - Controller I/O
    38
  - Tool I/O
    49
    
    Ethernet
    53
    
    Mains Connection
    53
    
    Robot Connection
    55
- Maintenance and Repair
  57
  - Safety Instructions
    57
  - Cleaning
    58
- Disposal and Environment
  59
- Certifications
  59
- Warranties
  63
  - Product Warranty
    63
  - Disclaimer
    63
- Stopping Time and Stopping Distance
  65
  - Stop Category 0 Stopping Distances and Times
    65
- Declarations and Certificates
  65
- Applied Standards
  77
- Technical Specifications
  84
- Safety Functions Tables
  85
Part II Polyscope Manual

93
- Safety Configuration
  95
  - Introduction
    95
  - Changing the Safety Configuration
    97
  - Safety Synchronization and Errors
    97
  - Tolerances
    98
  - Safety Checksum
    98
  - Safety Modes
    99
  - Freedrive Mode
    99
  - Password Lock
    100
  - Apply
    100
  - General Limits
    101
  - Basic Settings
    102
  - Switching to Advanced Settings
    102
  - Advanced Settings
    102
  - Switching to Basic Settings
    103
    
    Joint Limits
    104
  - Maximum Speed
    104
  - Position Range
    105
    
    Boundaries
    105
  - Name
    107
  - Copy Feature
    108
  - Safety Mode
    108
  - Displacement
    109
  - Effect of Strict Limit Planes
    109
  - Effect of Trigger Reduced Mode Planes
    109
  - Deviation
    110
  - Copy Feature
    111
  - Safety Mode
    111
  - Effect
    111
    
    Safety I/O
    112
  - System Emergency Stop
    112
  - Reduced Mode
    113
  - Safeguard Reset
    113
  - Three-Position Enabling Device and Operational Mode
    113
  - System Emergency Stop
    114
  - Robot Moving
    115
  - Robot Not Stopping
    115
  - Reduced Mode
    115
  - Not Reduced Mode
    115
- Begin Programming
  117
  - Introduction
    117
  - Getting Started
    117
  - The First Program
    119
  - Polyscope Programming Interface
    120
  - Welcome Screen
    121
  - Initialization Screen
    122
- On-Screen Editors
  125
  - On-Screen Expression Editor
    125
  - Pose Editor Screen
    125
- Robot Control
  129
  - Move Tab
    129
  - I/O Tab
    131
  - Modbus
    132
  - Automove Tab
    133
  - Installation → Load/Save
    134
  - Installation → TCP Configuration
    135
  - Installation → Mounting
    138
  - Installation → I/O Setup
    140
  - Installation → Safety
    142
  - Installation → Variables
    142
  - Installation → MODBUS Client I/O Setup
    144
  - Installation → Features
    148
  - Conveyor Tracking Setup
    156
  - Smooth Transition between Safety Modes
    157
  - Installation → Default Program
    157
  - Log Tab
    159
  - Load Screen
    161
  - Path History
    162
  - File Selection Area
    162
  - File Filter
    162
  - File Field
    162
  - Open Button
    162
  - Cancel Button
    162
  - Action Buttons
    162
    
    Run Tab
    163
- Programming
  165
  - New Program
    165
  - Program Tab
    166
  - Variables
    168
  - Command: Move
    169
  - Command: Fixed Waypoint
    173
  - Example
    174
  - Blend Parameters
    174
  - Conditional Blend Trajectories
    175
  - Trajectory Type Combinations
    176
    
    Command: Relative Waypoint
    179
    
    Command: Variable Waypoint
    180
    
    Command: Direction
    180
  - Command: until
    181
  - Command: Wait
    183
  - Command: Set
    184
  - Command: Popup
    185
  - Command: Halt
    186
  - Command: Comment
    187
  - Command: Folder
    188
  - Command: Loop
    189
  - Command: if
    189
  - Command: Subprogram
    191
  - Command: Assignment
    193
  - Command: Script
    194
  - Command: Event
    195
  - Command: Thread
    196
  - Command: Switch
    197
  - Command: Pattern
    199
  - Command: Force
    200
  - Force Value Selection
    202
  - Limits Selection
    203
  - Test Force Settings
    203
  - Command: Pallet
    204
  - Command: Seek
    205
  - Command: Conveyor Tracking
    209
  - Command: Suppress
    209
  - Graphics Tab
    209
  - Structure Tab
    211
  - Variables Tab
    212
  - Command: Variables Initialization
    213
- Setup Screen
  215
  - Language and Units
    216
  - Update Robot
    217
  - Set Password
    218
  - Calibrate Screen
    219
  - Setup Network
    220
  - Set Time
    221
  - Urcaps Setup
    222
EUROMAP 67 Interface

223
- Introduction
  223
  - EUROMAP 67 Standard
    224
  - Statutory Notice
    224
- Robot and IMM Integration
  225
  - Emergency Stop and Safeguard Stop
    225
  - Connecting a MAF Light Guard
    226
  - Mounting the Robot and Tool
    226
  - Using the Robot Without an IMM
    226
  - EUROMAP 12 to EUROMAP 67 Conversion
    226
- Gui
  227
  - EUROMAP 67 Program Template
    227
  - I/O Overview and Troubleshooting
    229
  - Program Structure Functionality
    231
  - I/O Action and Wait
    238
- Installing and Uninstalling the Interface
  239
  - Installing
    239
  - Uninstalling
    240
- Electrical Characteristics
  240
  - MAF Light Guard Interface
    241
  - Emergency Stop, Safety Devices and MAF Signals
    241
  - Digital Inputs
    242
  - Digital Outputs
    242
2 Glossary

243
- Index
  244

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Universal Robots UR10/CB3 Installation Manual

Universal Robots UR10/CB3 Installation Manual (15 pages)

Brand: Universal Robots | Category: Robotics | Size: 1.83 MB

Table of Contents

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