Universal Robots UR3/CB3 Manuals

Manuals and User Guides for Universal Robots UR3/CB3. We have 2 Universal Robots UR3/CB3 manuals available for free PDF download: Original Instructions Manual, User Manual

Universal Robots UR3/CB3 Original Instructions Manual (257 pages)

Brand: Universal Robots | Category: Robotics | Size: 17.68 MB

Table of Contents
5
What Do the Boxes Contain
13
Preface

13
- Important Safety Notice
  14
- Ur+
  14
- How to Read this Manual
  14
- Where to Find more Information
  14
I Hardware Installation Manual

15
1 Safety

17
- Introduction
  17
- Validity and Responsibility
  17
- Limitation of Liability
  18
- Warning Symbols in this Manual
  18
- General Warnings and Cautions
  19
- Intended Use
  22
- Risk Assessment
  22
- Emergency Stop
  24
- Movement with and Without Drive Power
  24
2 Safety-Related Functions and Interfaces

27
3 Transportation

35
4 Mechanical Interface

37
- Workspace of the Robot
  37
- Introduction
  37
- Mounting
  38
- Maximum Payload
  41
5 Electrical Interface

43
- Electrical Warnings and Cautions
  43
- Introduction
  43
- Electrical Warnings and Cautions
  44
- Controller I/O
  45
- Tool I/O
  55
- Ethernet
  59
- Mains Connection
  59
- Using the Tool Analog Inputs, Differential
  59
- Robot Connection
  60
6 Maintenance and Repair

63
- Safety Instructions
  63
- Safety Instructions
  64
7 Disposal and Environment

65
8 Certifications

67
9 Warranties

69
- Product Warranty
  69
- Disclaimer
  70
A Stopping Time and Stopping Distance

71
- Stop Category 0 Stopping Distances and Times
  72
B Declarations and Certificates

73
- EU Declaration of Incorporation in Accordance with ISO/IEC 17050-1:2010
  74
- Safety System Certificate
  75
- TUV Rheinland
  76
- China Rohs
  77
- KCC Safety
  78
- Environmental Test Certificate
  79
- EMC Test Certificate
  80
  - Technical Speciﬁcations
    91
  - Safety Functions Tables
    93
  - Safety Configuration
    101
  - Changing the Safety Conﬁguration
    103
  - Safety Synchronization and Errors
    103
  - Tolerances
    104
  - Safety Checksum
    105
  - Freedrive Mode
    105
  - Backdrive
    106
  - Password Lock
    106
  - Apply
    106
  - General Limits
    107
  - Advanced Settings
    108
  - Joint Limits
    109
  - Selecting a Boundary to Conﬁgure
    111
  - 3D Visualization
    112
  - Safety Plane Conﬁguration
    112
  - Copy Feature
    113
  - Safety Mode
    113
  - Displacement
    114
  - Effect of Strict Limit Planes
    114
  - Effect of Trigger
    114
  - Tool Boundary Conﬁguration
    116
  - The Tool Boundary Properties
    116
  - Deviation
    116
  - Input Signals
    118
  - Safeguard
    119
  - Reduced Mode
    119
  - Three-Position Enabling Device and Operational Mode
    119
  - Output Signals
    120
  - System Emergency
    120
  - Robot Moving
    120
  - Robot Not Stopping
    121
  - Begin Programming
    123
  - Getting Started
    123
  - Installing the Robot Arm and Control Box
    123
  - Turning the Control Box on and off
    124
  - Turning the Robot Arm on and off
    124
  - Quick Start
    125
  - The First Program
    125
  - Polyscope Programming Interface
    126
  - Welcome Screen
    128
  - Initialization Screen
    129
  - Robot Arm State Indicator
    129
  - Active Payload and Installation
    129
  - Initializing the Robot Arm
    130
  - On-Screen Editors
    131
  - On-Screen Expression Editor
    131
  - Robot
    132
  - Feature and Tool Position
    132
  - Joint Positions
    133
  - OK Button
    133
  - Cancel Button
    133
  - Robot Control
    135
  - Move Tab
    135
  - Move Tool
    136
  - Move Joints
    136
  - Freedrive
    136
  - I/O Tab
    137
  - Modbus
    138
  - Automove Tab
    139
  - Animation
    139
  - Auto
    139
  - Manual
    140
  - Load/Save
    140
  - The Robot Installation
    140
  - TCP Conﬁguration
    141
  - Adding, Renaming, Modifying and Removing Tcps
    141
  - The Default and the Active TCP
    142
  - Teaching TCP Position
    142
  - Teaching TCP Orientation
    143
  - Payload
    143
  - Center of Gravity
    143
  - Specifying the Mounting of the Robot Arm Serves Two Purposes
    144
  - I/O Setup
    145
  - I/O Signal Type
    146
  - Assigning User-Deﬁned Names
    146
  - I/O Actions and I/O Tab Control
    146
  - Variables
    147
  - MODBUS Client I/O Setup
    148
  - Refresh
    149
  - Add Unit
    149
  - Delete Unit
    149
  - Set Unit IP
    149
  - Set Signal Address
    150
  - Set Signal Name
    150
  - Signal Value
    150
  - Signal Connectivity Status
    150
  - Show Advanced Options
    151
  - Advanced Options
    151
  - Update Frequency
    151
  - Slave Address
    151
  - Features
    152
  - Using a Feature
    153
  - Base Feature
    153
  - Tool (TCP) Feature
    153
  - Delete
    153
  - Changing the Point
    154
  - Joggable
    154
  - Using Move Robot here
    154
  - New Point
    154
  - Deﬁnition of the Line Feature
    155
  - Plane Feature
    156
  - Adding a Plane
    156
  - Teaching a Plane
    156
  - Example: Manually Updating a Feature to Adjust a Program
    156
  - Example: Dynamically Updating a Feature Pose
    157
  - A Movel Command with Four Waypoints Relative to a Plane Feature
    157
  - Applying an Offset to the Plane Feature
    158
  - Conveyor Tracking Setup
    158
  - Conveyor Parameters
    158
  - Tracking Parameters
    158
  - Smooth Transition between Safety Modes
    159
  - Circular Conveyors
    159
  - Adjusting Acceleration/Deceleration Settings
    159
  - Default Program
    160
  - Starting a Default Program
    161
  - Auto Initialization
    161
  - Log Tab
    161
  - Saving Error Reports
    162
  - Robot Health
    162
  - Robot Log Messages
    162
  - Load Screen
    163
  - Screen Layout
    163
  - Path History
    164
  - File Selection
    164
  - File Filter
    164
  - Action Buttons
    164
  - Run Tab
    165
  - Programming
    167
  - New Program
    167
  - Program Tab
    168
  - Program Tree
    168
  - Program Execution Indication
    169
  - Search Button
    169
  - Undo/Redo Buttons
    170
  - Program Dashboard
    170
  - Command: Empty
    171
  - Variable Types
    171
  - Command: Move
    172
  - Movement Types
    172
  - Shared Parameters
    173
  - TCP Selection
    173
  - Movep
    173
  - Circle Move
    173
  - Feature Selection
    174
  - Relative Waypoints
    174
  - Variable Waypoints
    174
  - Variable Feature
    174
  - Command: Fixed Waypoint
    175
  - Setting the Waypoint
    175
  - Waypoint Names
    175
  - Blending
    175
  - Blend Radius Overlap Not Allowed
    177
  - Conditional Blend Trajectories
    177
  - Trajectory
    178
  - Command: Relative Waypoint
    181
  - Command: Variable Waypoint
    182
  - Command: until
    183
  - Until Condition
    183
  - Stopping a Direction Movement
    183
  - Command: Wait
    185
  - Command: Set
    186
  - Command: Popup
    187
  - Command: Halt
    188
  - Command: Comment
    189
  - Command: Folder
    190
  - Command: Loop
    191
  - Command: Subprogram
    192
  - Command: Call Subprogram
    193
  - Command: Assignment
    194
  - Command: if
    195
  - Command: Script
    196
  - Command: Event
    197
  - Command: Thread
    198
  - Command: Switch
    199
  - Timer
    200
  - Command: Pattern
    201
  - Command: Force
    202
  - Force Mode Type
    203
  - Force Value Selection
    204
  - Limits Selection
    205
  - Test Force Settings
    205
  - Command: Pallet
    206
  - Programming a Pallet Operation
    206
  - Pallet Sequence/Anchorable Sequence
    206
  - “Beforestart”
    206
  - “Afterend”
    207
  - Command: Seek
    207
  - Stacking
    208
  - Destacking
    209
  - Starting Position
    209
  - Direction
    210
  - Next Stacking Position Expression
    210
  - Pick/Place Sequence
    210
  - Command: Conveyor Tracking
    211
  - Command: Suppress
    211
  - Graphics Tab
    211
  - Structure Tab
    213
  - Variables Tab
    214
  - Command: Variables Initialization
    215
  - Setup Screen
    217
  - Language and Units
    218
  - Update Robot
    219
  - Set Password
    220
  - Calibrate Screen
    221
  - Setup Network
    222
  - Set Time
    223
  - Urcaps Setup
    224
  - EUROMAP 67 Interface
    225
  - Abbreviations
    227
  - EUROMAP 67 Standard
    228
  - Statutory Notice
    228
  - Robot and IMM Integration
    231
  - Emergency Stop and Safeguard Stop
    231
  - Connecting a MAF Light Guard
    231
  - Mounting the Robot and Tool
    232
  - Using the Robot Without an IMM
    232
  - EUROMAP 12 to EUROMAP 67 Conversion
    232
  - Do You Measure 24V between A9 and C9?
    233
  - Gui
    235
  - EUROMAP 67 Program Template
    235
  - I/O Overview and Troubleshooting
    236
  - Manufacturer Dependent
    238
  - Status
    238
  - Program Structure Functionality
    238
  - Startup Check
    239
  - Free to Mould
    240
  - Wait for Item
    241
  - Ejector Forward
    242
  - Ejector Back
    243
  - Core Pullers in
    244
  - Core Pullers out
    244
  - I/O Action and Wait
    245
  - Installing and Uninstalling the Interface
    247
  - Uninstalling
    248
  - Interface Placements in the Controller Box
    248
  - Electrical Characteristics
    251
  - MAF Light Guard Interface
    251
  - Emergency Stop, Safety Devices and MAF Signals
    251
  - Digital Inputs
    252
  - Digital Outputs
    252
  - Glossary
    253
  - Index
    255

Universal Robots UR3/CB3 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

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Universal Robots UR3/CB3 Manuals

Universal Robots UR3/CB3 Original Instructions Manual (257 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

Universal Robots UR3/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

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