Universal Robots UR20 Manuals

Manuals and User Guides for Universal Robots UR20. We have 9 Universal Robots UR20 manuals available for free PDF download: User Manual, Service Manual, Installation Manual, Manual, Troubleshooting Manual

Universal Robots UR20 User Manual (361 pages)

Brand: Universal Robots | Category: Robotics | Size: 23 MB

Table of Contents
7
Preface
12
Part I Hardware Installation Manual
15
Safety
16
Validity and Responsibility
17
Limitation of Liability
17
Safety Message Types
18
General Warnings and Cautions
19
Intended Use
21
Risk Assessment
23
Pre-Use Assessment
25
Emergency Stop
26
Movement Without Drive Power
27
Safety-Related Functions and Interfaces
28
Stop Categories
29
Configurable Safety Functions
30
Safety Functions
34
Safety Parameter Set
35
Modes
37
Mechanical Interface
38
Workspace and Operating Space
38
Mounting Description
39
Securing the Robot Arm
40
Securing Tool
41
Control Box Clearance
42
Maximum Payload
44
Electrical Interface
46
Electrical Warnings and Cautions
46
Controller I/O
48
Safety I/O
50
Three Position Enabling Device
54
General Purpose Digital I/O
56
General Purpose Analog I/O
57
Remote ON/OFF Control
58
Control Box Bracket
60
Ethernet
60
Mains Connections
61
Robot Connections: Robot Cable
63
Robot Connections: Base Flange Cable
64
Tool I/O
65
Tool Power Supply
66
Tool Digital Outputs
67
Tool Digital Inputs
68
Tool Analogue Inputs
68
Tool Communication I/O
69
Transportation
70
Transport Without Packaging
71
Maintenance and Repair
72
Cleaning
73
Inspection
73
Robot Arm Inspection Plan
73
Robot Arm Visual Inspection
74
Freedrive Inspection
75
Control Box Inspection Plan
76
Disposal and Environment
77
Certifications
78
Stopping Time and Stopping Distance
80
Robot Scenario 1: 10 Kg
80
Robot Scenario 2: 12.5 Kg
83
Declarations and Certificates (Original EN)
87
Warranty Information
89
Certificates
90
Applied Standards
95
Technical Specifications
99
Safety Functions Table
100
Table
109
Part II Polyscope Manual
113
Introduction
115
Robot Arm Basics
115
Robot Arm Installation
116
Polyscope Overview
120
Icons/Tabs on Polyscope
121
Freedrive
123
Freedrive Panel
125
Backdrive
126
Backdrive Inspection
128
Quick System Start-Up
130
The First Program
131
Robot Cyber Security
133
Operational Mode Selection
134
Software Safety Configuration
137
Setting a Software Safety Password
139
Changing the Software Safety Configuration
140
Applying a New Software Safety Configuration
141
Safety Checksum
141
Safety Configuration Without Teach pendant
143
Software Safety Modes
143
Software Safety Limits
144
Robot Limits
144
Joint Limits
146
Safety I/O
149
Software Safety Restrictions
153
Tool Direction Restriction
161
Tool Position Restriction
163
Safe Home Position
167
Run Tab
169
Move Robot into Position
172
Program
173
Variables
173
Program Tab
175
Robot Program Configuration
177
Program Tree Toolbar
179
Variable Setup
179
Command Tab
182
Graphics Tab
185
Variables Tab
187
Expression Editor
188
Starting a Program from a Selected Program Node
189
Using Breakpoints in a Program
190
Single Step in a Program
193
Basic Program Nodes
195
Move
195
Waypoints
199
Direction
222
Wait
224
Set
229
Popup
231
Halt
234
Comment
235
Folder
236
Set Payload
237
Advanced Program Nodes
238
Loop
238
Subprogram
239
Assignment
241
Script
243
Event
244
Thread
244
Switch
245
Timer
247
Home
247
Templates
250
Seek
250
Force
254
Palletizing
258
Conveyor Tracking
264
Screwdriving
266
Urcaps
269
Installation Tab
278
TCP Configuration
278
Teaching TCP Position
280
Payload
281
Mounting
284
I/O Setup
285
Installation Variables
288
Startup
291
Tool I/O
292
Analog Input - Communication Interface
292
Digital Output Mode
293
Smooth Transition
293
Home
294
Conveyor Tracking Setup
295
Screwdriving Setup
296
Safety
299
Features
299
Feature Edit
306
Fieldbus
307
MODBUS Client I/O Setup
307
Ethernet/Ip
310
Profinet
311
Profisafe
311
Move Tab
317
Pose Editor Screen
320
I/O Tab
322
Modbus
324
Log Tab
325
Program and Installation Manager
328
File Manager
332
Hamburger Menu
333
About
333
Help
334
Settings
336
Preferences
336
Password
337
System
339
Security
346
Shutdown Robot
351
Glossary
352
Index
353

Universal Robots UR20 User Manual (248 pages)

Brand: Universal Robots | Category: Robotics | Size: 19 MB

Table of Contents
5
Liability and Intended Use
10
Limitation of Liability
10
Intended Use
10
Your Robot
13
Technical Specifications Ur5E
17
Maximum Payload
18
Stopping Time and Stopping Distance
18
Polyscope Overview
24
Icons/Tabs on Polyscope
25
Safety
27
General
27
Safety Message Types
28
General Warnings and Cautions
29
Integration and Responsibility
31
Stop Categories
31
Risk Assessment
32
Pinch Hazard
35
Lifting and Handling
36
Control Box and Teach pendant
36
Robot Arm
36
Assembly
37
Workspace and Operating Space
37
Dimensioning the Stand
38
Mounting Description
41
Singularity Prevention
43
Fixed and Movable Installation
43
Securing the Robot Arm
44
Control Box Clearance
45
Robot Connections: Base Flange Cable
46
Robot Connections: Robot Cable
46
Mains Connections
48
First Boot
50
Freedrive
53
Freedrive Panel
55
Installation
57
Electrical Warnings and Cautions
57
Safety I/O
60
I/O Signals
65
I/O Setup
67
Control Box Connection Ports
71
Ethernet
72
Controller I/O
73
Teach pendant with 3-Position Enabling Device
76
3PE Teach pendant Installation
78
Hardware Installation
78
3PE Teach pendant Button Functions
80
Using the 3PE Buttons
82
Teach pendant Storage
83
Three Position Enabling Device
84
End Effector Integration
85
End Effector
85
General Purpose Analog I/O
86
General Purpose Digital I/O
88
Remote ON/OFF Control
88
Securing Tool
90
Tool I/O Installation Specifications
92
Tool Power Supply
93
Tool Digital Outputs
94
Tool Digital Inputs
95
Tool Analogue Inputs
95
Tool Communication I/O
97
Commissioning
98
First Time Use
99
Quick System Start-Up
99
Safety-Related Functions and Interfaces
100
Configurable Safety Functions
102
Safety Functions
106
Safety Parameter Set
108
Software Safety Configuration
109
Setting a Software Safety Password
112
Changing the Software Safety Configuration
113
Applying a New Software Safety Configuration
114
Safety Checksum
114
Safety Configuration Without Teach pendant
115
Software Safety Modes
115
Software Safety Limits
116
Joint Limits
119
Safe Home Position
121
Software Safety Restrictions
123
Tool Direction Restriction
129
Tool Position Restriction
131
The First Program
135
Run Tab
136
Move Robot into Position
141
Using the Program Tab
142
Program Tree Toolbar
144
Using Selected Program Nodes
145
Using Basic Program Nodes
146
Basic Program Nodes: Move
146
Basic Program Nodes: Waypoints
149
Set Payload
150
Payload
153
Mounting
156
Using the I/O Tab
157
Analog Input: Communication Interface
159
Digital Output
159
Using the Move Tab
160
Pose Editor
163
I/O Interface Control
164
UR Connect
165
Cybersecurity Threat Assessment
167
General Cybersecurity
167
Cybersecurity Requirements
167
Cybersecurity Hardening Guidelines
169
Passwords
170
Password Settings
170
Administrator Password
171
Operational Password
172
Communication Networks
173
Fieldbus
173
Modbus
174
Ethernet/Ip
178
Profinet
178
Profisafe
178
Emergency Events
183
Emergency Stop
183
Movement Without Drive Power
184
Modes
185
Recovery Mode
187
Backdrive
187
Transportation
191
Maintenance and Repair
193
Testing Stopping Performance
194
Robot Arm Cleaning and Inspection
194
Log Tab
200
Program and Installation Manager
203
Accessing Robot Data
205
Disposal and Environment
207
Declarations and Certificates (Original EN)
209
Declarations and Certificates
211
Safety Functions Table
213
Table
234
Certifications
239
Certificates
242

Universal Robots UR20 User Manual (152 pages)

Brand: Universal Robots | Category: Robotics | Size: 14 MB

Safety Functions Table
1
Table of Contents
5
Preface
8
Part I Hardware Installation Manual
13
Safety
13
Validity and Responsibility
14
Limitation of Liability
14
Safety Message Types
15
General Warnings and Cautions
16
Intended Use
18
Risk Assessment
21
Pre-Use Assessment
24
Emergency Stop
25
Movement Without Drive Power
26
Safety-Related Functions and Interfaces
27
Stop Categories
27
Safety Functions
33
Mechanical Interface
36
Workspace and Operating Space
36
Mounting Description
37
Securing the Robot Arm
40
Securing Tool
44
Control Box Clearance
44
Maximum Payload
46
Electrical Interface
46
Electrical Warnings and Cautions
47
Controller I/O
49
Safety I/O
51
Three Position Enabling Device
56
General Purpose Digital I/O
57
General Purpose Analog I/O
58
Remote ON/OFF Control
59
Control Box Connection Ports
61
Ethernet
61
Mains Connections
62
Robot Connections: Robot Cable
64
Robot Connections: Base Flange Cable
66
Tool I/O
67
Tool Power Supply
69
Tool Digital Outputs
70
Tool Digital Inputs
71
Tool Analogue Inputs
71
Tool Communication I/O
72
Transportation
73
Transport Without Packaging
74
Maintenance and Repair
74
Robot Arm Cleaning and Inspection
76
Disposal and Environment
79
Certifications
80
Stopping Time and Stopping Distance
82
Declarations and Certificates (Original EN)
87
Warranty Information
88
Certificates
88
Applied Standards
93
Technical Specifications Ur16E
103
Safety Functions Table
104
Table
113
Part II Polyscope X Software Manual
118
Preface
126
What Do the Boxes Contain
127
Important Safety Notice
127
How to Read this Manual
127
Purpose of this Manual
128
Robot Arm Basics
129
Teach pendant
129
Using the Screen
129
Install the Robot
130
Assembling the Robot Arm and Control Box
130
Polyscope X Overview
131
Screen Layout
131
Screen Combinations
131
Touch Screen
132
Icons
133
Initialize
135
Starting the Robot Arm
135
Safely Setting the Active Payload
135
Safety
136
Safety Checksum
136
Safety Configuration
136
Setting a Safety Password
136
Safety Menu Settings
137
Robot Limits
137
Safety I/O Signals
138
Safety Planes
140
To Restrict the Elbow Joint
141
Operational Mode
142
Application Tab
144
Communication
144
Glossary
146
Index
147

Universal Robots UR20 User Manual (132 pages)

Brand: Universal Robots | Category: Robotics | Size: 11 MB

Table of Contents
5
Liability and Intended Use
9
Limitation of Liability
9
Intended Use
9
Your Robot
11
Technical Specifications UR20
15
Teach pendant with 3-Position Enabling Device
16
3PE Teach pendant Button Functions
19
Polyscope X Overview
20
Screen Layout
20
To Show/Hide the Multitask Screen
21
Touch Screen
21
Using the Touch Screen
21
Icons
22
Footer Buttons
23
Light Ring
26
Safety
28
General
28
Safety Message Types
29
General Warnings and Cautions
30
Integration and Responsibility
32
Stop Categories
32
Lifting and Handling
33
Control Box and Teach pendant
35
Robot Arm
35
Round Sling Use
36
Assembly
38
Workspace and Operating Space
39
Dimensioning the Stand
40
Mounting Description
42
Singularity
42
Fixed and Movable Installation
44
Securing the Robot Arm
45
Control Box Clearance
47
Robot Connections: Base Flange Cable
48
Robot Connections: Robot Cable
49
Mains Connections
50
Application Tab
52
Communication
52
Installation
54
Electrical Warnings and Cautions
54
Control Box Connection Ports
56
Ethernet
56
3PE Teach pendant Installation
58
Hardware Installation
58
New Software Installation
60
Controller I/O
61
Safety I/O
64
Safety I/O Signals
67
Three Position Enabling Device
72
General Purpose Analog I/O
73
Analog Input: Communication Interface
74
General Purpose Digital I/O
75
Digital Output
75
Remote ON/OFF Control
77
End Effector Integration
78
Tool I/O
79
Maximum Payload
80
Securing Tool
83
Tool I/O Installation Specifications
85
Tool Power Supply
86
Tool Digital Outputs
87
Tool Digital Inputs
88
Tool Analogue Inputs
88
Tool Communication I/O
89
Initialize
90
Starting the Robot Arm
90
Safely Setting the Active Payload
90
Cybersecurity Threat Assessment
91
General Cybersecurity
91
Cybersecurity Requirements
91
Cybersecurity Hardening Guidelines
93
Communication Networks
94
UR Connect
94
Emergency Events
95
Emergency Stop
95
Movement Without Drive Power
96
Operational Mode
96
Transportation
99
Teach pendant Storage
100
Maintenance and Repair
101
Testing Stopping Performance
101
Robot Arm Cleaning and Inspection
102
Disposal and Environment
106
Risk Assessment
108
Pinch Hazard
111
Stopping Time and Stopping Distance
112
Commissioning
119
Declarations and Certificates (Original EN)
120
Declarations and Certificates
122
Certifications
124
Certificates
126

Universal Robots UR20 Service Manual (70 pages)

Brand: Universal Robots | Category: Robotics | Size: 13 MB

Table of Contents
2
1 Introduction

4
- About this Document
  4
- Company Details
  4
- Copyright and Disclaimers
  4
- Safety Message Types
  5
2 Handling ESD-Sensitive Parts

7
3 Recommended Inspection Activities

12
- Robot Arm
  12
  - Inspection Plan
    12
  - Visual Inspection: Robot Arm
    12
  - Functional Inspection
    14
  - Cleaning Your Robot
    14
- Control Box and Teach pendant
  14
  - Inspection Plan
    14
  - Functional and Safety Inspection
    15
  - Visual Inspection: Control Box
    18
  - Cleaning
    19
4 Service and Replacement of Parts

20
- Pre-Use Assessment
  20
  - Recommended Tools
    21
- Robot Arm
  22
  - Joint Interchangeablilty
    22
  - Connection Torque Values
    24
  - Clamp Connection
    26
  - Tool Flange
    32
  - Replacement of Trim Plates
    34
  - Joint Verification
    35
  - Dual Robot Calibration
    37
  - Program Correction by Key Waypoints
    37
- Control Box
  38
5 Software

50
- Long Term Support
  50
- Software Updates
  50
  - Update Procedure
    51
- Using Support File
  54
- Using Magic Files
  54
- Backup of Data
  55
6 Troubleshooting

58
- Adding External Equipment for Troubleshooting Purpose
  58
- UR Log Viewer
  58
- LED Indicators and Fuse on Safety Control Board
  59
  - LED Indicators on Safety Control Board
    59
  - Fuse
    59
- Complete Rebooting Sequence
  60
- Robot Stop
  61
  - Ignoring Robot Stops
    62
7 Electrical Drawings

64
8 Spare Parts

65
9 Packing and Shipping of Robot/Spare Parts

66
10 Change Log

70

Universal Robots UR20 Service Manual (47 pages)

Brand: Universal Robots | Category: Robotics | Size: 4 MB

Table of Contents
2
Introduction
4
About this Document
4
Company Details
4
Copyright and Disclaimers
4
Safety Message Types
5
Handling ESD-Sensitive Parts
7
Recommended Inspection Activities
9
Robot Arm
9
Inspection Plan
9
Visual Inspection: Robot Arm
9
Functional Inspection
11
Cleaning Your Robot
11
Control Box and Teach pendant
11
Inspection Plan
11
Functional and Safety Inspection
12
Visual Inspection: Control Box
14
Cleaning
14
Service and Replacement of Parts
15
Pre-Use Assessment
15
Recommended Tools
16
Robot Arm
17
Connection Torque Values
18
Clamp Connection
20
Tool Flange
24
Replacement of Trim Plates
26
Joint Verification
27
Dual Robot Calibration
27
Program Correction by Key Waypoints
28
Control Box
28
Dismantling the Control Box
28
Torque Values
29
Replacing the 3PE Teach pendant
30
Software
32
Software Updates
32
Update Procedure
32
Using Support File
33
Using Magic Files
33
Backup of Data
34
Hardware Requirements
35
Software Requirements
35
Accessing Linux Partition from Windows
35
Copying the Data from SD Card
35
Troubleshooting
37
Adding External Equipment for Troubleshooting Purpose
37
UR Log Viewer
37
LED Indicators and Fuse on Safety Control Board
37
LED Indicators on Safety Control Board
37
Fuse
38
Complete Rebooting Sequence
38
Robot Stop
39
Ignoring Robot Stops
40
Electrical Drawings
42
Packing and Shipping of Robot/Spare Parts
43
Change Log
47

Universal Robots UR20 Installation Manual (40 pages)

OEM Control Box

Brand: Universal Robots | Category: Controller | Size: 11 MB

Table of Contents
5
1 Introduction

7
- About this Document
  7
- What the Box Contains
  7
- Company Details
  7
2 Cleaning Your Robot

8
- Everyday Cleaning
  8
- Additional Cleaning
  8
3 Safety

9
- Safety Message Types
  9
- General Safety Precautions
  10
4 Electrical Installation: AC Variant

12
- Required Items
  12
- How to Connect Wires to the Connector
  13
- Power Source Wiring: AC
  13
- Robot Connection
  14
- Circuit Breaker Installation
  15
5 Electrical Installation: DC Variant

16
- Required Items
  16
- How to Connect Wires to the Connector
  17
- Power Source Wiring: DC
  17
  - Soft Start Circuit
    18
- Robot Connection
  19
- Circuit Breaker Installation
  19
6 Mechanical Installation

21
- Working Environment Guidelines
  21
- Mounting the OEM Control Box
  21
  - Grounding
    22
7 Connecting External Devices

23
8 OEM Control Box Specifications

27
9 Troubleshooting

29
- OEM Control Box AC Variant
  29
- OEM Control Box DC Variant
  29
10 Cable Strain Relief Bracket

30
- OEM Control Box AC
  30
- OEM Control Box DC
  31
11 Certifications

33

Universal Robots UR20 Manual (21 pages)

Brand: Universal Robots | Category: Robotics | Size: 2 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 UR20 Troubleshooting Manual (8 pages)

Polyscope freezing issues

Brand: Universal Robots | Category: Robotics | Size: 0 MB

Troubleshooting Polyscope Freezing Issues
1
Table of Contents
3
General Information
4
Purpose
4
Company Details
5
Disclaimer
5
Warning Symbols
6
Troubleshooting Procedure
7

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Universal Robots UR20 Manuals

Table of Contents

Table of Contents

Table of Contents

Table of Contents

Table of Contents

1 Introduction

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

9 Packing and Shipping of Robot/Spare Parts

10 Change Log

Table of Contents

Table of Contents

1 Introduction

2 Cleaning Your Robot

3 Safety

4 Electrical Installation: AC Variant

5 Electrical Installation: DC Variant

6 Mechanical Installation

7 Connecting External Devices

8 OEM Control Box Specifications

9 Troubleshooting

10 Cable Strain Relief Bracket

11 Certifications

Table of Contents

1 General Information

2 UR Log Viewer

3 Type of Messages

4 Change Log

Table of Contents

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