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UR3e
Universal Robots UR3e Manuals
Manuals and User Guides for Universal Robots UR3e. We have
12
Universal Robots UR3e manuals available for free PDF download: User Manual, Service Manual, Manual, Service Handbook, Hardware Manual, Installation Manual, Original Instructions Manual
Universal Robots UR3e User Manual (361 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 23 MB
Table of Contents
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
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Universal Robots UR3e User Manual (238 pages)
PolyScope 5
Brand:
Universal Robots
| Category:
Robotics
| Size: 16 MB
Table of Contents
Table of Contents
5
Liability and Intended Use
10
Limitation of Liability
10
Intended Use
10
Your Robot
12
Technical Specifications UR30
16
Teach pendant with 3-Position Enabling Device
17
3PE Teach pendant Button Functions
19
Using the 3PE Buttons
20
Polyscope Overview
23
Icons/Tabs on Polyscope
24
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
35
Assembly and Mounting
37
Securing the Robot Arm
38
Dimensioning the Stand
40
Mounting Description
42
Workspace and Operating Space
43
Singularity
44
Fixed and Movable Installation
45
Control Box Clearance
46
Robot Connections: Base Flange Cable
47
Robot Connections: Robot Cable
48
Mains Connections
49
First Boot
51
Starting Your Robot
51
Inserting the Serial Number
52
Initializing the Robot Arm
53
Turning the Control Box On/Off
54
Powering down the Robot
55
Freedrive
56
Freedrive Panel
58
Mounting
61
Power down the Robot
62
Installation
63
Electrical Warnings and Cautions
63
Control Box Connection Ports
65
Ethernet
66
3PE Teach pendant Installation
67
Hardware Installation
67
New Software Installation
69
Controller I/O
70
I/O Interface Control
72
Using the I/O Tab
73
Safety I/O
75
I/O Signals
79
I/O Setup
82
Three Position Enabling Device
85
General Purpose Analog I/O
86
Analog Input: Communication Interface
87
General Purpose Digital I/O
88
Digital Output
88
End Effector Integration
89
Tool I/O
90
Maximum Payload
91
Remote ON/OFF Control
94
Securing Tool
95
Set Payload
96
Tool I/O Installation Specifications
101
Tool Power Supply
102
Tool Digital Outputs
103
Tool Digital Inputs
104
Tool Analogue Inputs
104
Tool Communication I/O
105
First Time Use
106
Quick System Start-Up
106
The First Program
107
Run Tab
109
Move Robot into Position
113
Using the Program Tab
114
Program Tree Toolbar
117
Using Selected Program Nodes
118
Using Basic Program Nodes
119
Basic Program Nodes: Move
119
Basic Program Nodes: Waypoints
123
Using the Move Tab
125
Pose Editor
127
Safety-Related Functions and Interfaces
130
Configurable Safety Functions
131
Safety Functions
132
Safety Parameter Set
134
Software Safety Configuration
135
Setting a Software Safety Password
138
Changing the Software Safety Configuration
139
Applying a New Software Safety Configuration
140
Safety Checksum
140
Safety Configuration Without Teach pendant
141
Software Safety Modes
141
Software Safety Limits
142
Robot Limits
143
Joint Limits
145
Safe Home Position
147
Software Safety Restrictions
149
Tool Direction Restriction
155
Tool Position Restriction
157
Cybersecurity Threat Assessment
161
General Cybersecurity
161
Cybersecurity Requirements
161
Cybersecurity Hardening Guidelines
163
Passwords
164
Password Settings
164
Administrator Password
165
Operational Password
166
Communication Networks
167
Fieldbus
168
Modbus
169
Ethernet/Ip
173
Profinet
173
Profisafe
173
UR Connect
177
Emergency Events
179
Emergency Stop
179
Movement Without Drive Power
180
Modes
181
Recovery Mode
183
Backdrive
183
Transportation
188
Teach pendant Storage
189
Maintenance and Repair
190
Testing Stopping Performance
190
Robot Arm Cleaning and Inspection
191
Log Tab
195
Program and Installation Manager
198
Accessing Robot Data
200
Disposal and Environment
202
Risk Assessment
204
Pinch Hazard
207
Stopping Time and Stopping Distance
207
Commissioning
213
Declarations and Certificates (Original EN)
214
Declarations and Certificates
216
Certifications
218
Certificates
220
Safety Functions Table
225
Table
233
Universal Robots UR3e Service Manual (205 pages)
Robot arm
Brand:
Universal Robots
| Category:
Robotics
| Size: 12 MB
Table of Contents
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
Dismantling the Control Box
54
Dismantling the OEM AC and DC Control Box
60
Assembling the Control Box Incl. OEM AC and OEM DC
68
Replacing of Teach Pendant
72
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
Hardware Requirements
82
Software Requirements
82
How to Access Linux Partition from Windows
82
Copy the Data from SD Card
83
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 UR3e Manual (108 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 22 MB
Table of Contents
Table of Contents
2
1 Introduction
5
About this Document
5
Company Details
5
Copyright and Disclaimers
5
Safety Message Types
6
2 Handling ESD-Sensitive Parts
8
3 Recommended Inspection Activities
13
Robot Arm
13
Inspection Plan
13
Visual Inspection: Robot Arm
13
Functional Inspection
14
Cleaning Your Robot
15
Control Box and Teach pendant
15
Inspection Plan
15
Functional and Safety Inspection
16
Visual Inspection: Control Box
19
Cleaning
21
4 Service and Replacement of Parts
22
Pre-Use Assessment
22
Recommended Tools
22
Robot Arm
24
Movement Without Drive Power
25
General Guidance to Separate Joint from Counterpart
25
Joint Connection Types
27
Torque Values
27
Power and Communication Connector Types on the Joint
28
Connector Location on Joints
31
Screw Connection
35
Clamp Connection
39
Tool Flange
42
Joint Verification
43
Zeroing of Joints
45
Dual Robot Calibration
48
Program Correction by Key Waypoints
49
Important Notice about Size 3 Joint on Ur10E
49
Robot Cable
49
Replacing Robot Cable
49
Control Box
51
Dismantling the Control Box
51
Dismantling the OEM AC and DC Control Box
55
Torque Values
61
Replacing the Teach Pendant: Standard TP
64
Replacing the Teach Pendant: 3PE TP
66
Replacement of Teach pendant Cable
68
5 Software
73
Long Term Support
73
Software Updates
73
Update Procedure
74
Update Timeline
77
Downgrading Vs. Restoring System Backup
77
Using Support File
78
Using Magic Files
79
Using Magic Files
80
Backup of Data
80
Hardware Requirements
80
Software Requirements
81
How to Access Linux Partition from Windows
81
Copy the Data from SD Card
81
6 Troubleshooting
83
Adding External Equipment for Troubleshooting Purpose
83
Log Viewer
83
Generel Purpose
83
Log Viewer Requirements
84
Installation Log Viewer
84
How to Use the UR Log Viewer
85
Loading the Data
85
Log Reader Tab
87
Flight Records
88
Log Start
90
Log Analysis Tab
92
Record Data Tab
93
Export from Robot Tab
94
Types of Messages
95
Support Log Reader (SLR)
95
LED Indicators and Fuse on Safety Control Board
97
LED Indicators on Safety Control Board
97
Fuse
97
Complete Rebooting Sequence
99
Protective Stop
101
7 Electrical Drawings
103
8 Spare Parts
104
9 Packing and Shipping of Robot/Spare Parts
105
Transport Without Packaging
106
10 Change Log
108
Universal Robots UR3e Service Handbook (104 pages)
Control box
Brand:
Universal Robots
| Category:
Robotics
| Size: 23 MB
Table of Contents
Table of Contents
3
Introduction
6
About this Document
6
Company Details
6
Copyright and Disclaimers
6
Safety Message Types
7
Handling ESD-Sensitive Parts
9
Recommended Inspection Activities
14
Robot Arm
14
Inspection Plan
14
Visual Inspection: Robot Arm
15
Functional Inspection
16
Cleaning Your Robot
16
Control Box and Teach pendant
16
Inspection Plan
16
Functional and Safety Inspection
17
Visual Inspection: Control Box
20
Cleaning
21
Service and Replacement of Parts
22
Pre-Use Assessment
22
Recommended Tools
23
Robot Arm
24
Movement Without Drive Power
25
General Guidance to Separate Joint from Counterpart
25
Joint Connection Types
27
Torque Values
27
Power and Communication Connector Types on the Joint
28
Connector Location on Joints
31
Screw Connection
35
Clamp Connection
39
Tool Flange
42
Joint Verification
43
Zeroing of Joints
44
Dual Robot Calibration
47
Program Correction by Key Waypoints
48
Important Notice about Size 3 Joint on Ur10E
48
Robot Cable
49
Replacing Robot Cable
49
Control Box
50
Dismantling the Control Box
50
Dismantling the OEM AC and DC Control Box
53
Torque Values
58
Replacing the Teach Pendant: Standard TP
61
Replacing the Teach Pendant: 3PE TP
63
Replacement of Teach pendant Cable
65
Software
70
Long Term Support
70
Software Updates
70
Update Procedure
71
Update Timeline
74
Downgrading Vs. Restoring System Backup
74
Using Support File
74
Using Magic Files
75
Using Magic Files
76
Backup of Data
76
Hardware Requirements
76
Software Requirements
77
How to Access Linux Partition from Windows
77
Copy the Data from SD Card
77
Troubleshooting
79
Adding External Equipment for Troubleshooting Purpose
79
Log Viewer
79
Generel Purpose
79
Log Viewer Requirements
80
Installation Log Viewer
80
How to Use the UR Log Viewer
81
Loading the Data
81
Log Reader Tab
82
Flight Records
83
Log Start
85
Log Analysis Tab
87
Record Data Tab
88
Export from Robot Tab
90
Types of Messages
90
Support Log Reader (SLR)
91
LED Indicators and Fuse on Safety Control Board
92
LED Indicators on Safety Control Board
92
Fuse
93
Complete Rebooting Sequence
94
Protective Stop
95
Electrical Drawings
97
Spare Parts
98
Packing and Shipping of Robot/Spare Parts
99
Transport Without Packaging
101
Change Log
102
Universal Robots UR3e Hardware Manual (103 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 10 MB
Table of Contents
Table of Contents
3
Safety
5
Introduction
5
Warning Symbols in this Manual
6
General Warnings and Cautions
7
Safety-Related Functions and Interfaces
15
Introduction
15
Stop Categories
15
Configurable Safety Functions
16
Safety Function
19
Modes
20
Mechanical Interface
23
Introduction
23
Workspace of the Robot
23
Mounting
24
Maximum Payload
26
Payload Inertia
27
Electrical Interface
29
Introduction
29
Control Box Bracket
29
Ethernet
29
Electrical Warnings and Cautions
30
Controller I/O
32
Common Specifications for All Digital I/O
33
Safety I/O
34
General Purpose Digital I/O
39
Digital Inputs from a Button
39
Communication with Other Machines or Plcs
39
General Purpose Analog I/O
40
Remote ON/OFF Control
41
Mains Connection
42
Robot Connection: Robot Cable
44
Robot Cable Connector
44
Universal Robots UR3e User Manual (121 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 16 MB
Universal Robots UR3e Installation Manual (40 pages)
OEM Control Box
Brand:
Universal Robots
| Category:
Controller
| Size: 11 MB
Table of Contents
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
External Device Connection Ports
23
Connecting a Mouse, Keyboard, or Monitor
23
How to Connect a Teach pendant
24
To Connect a Teach pendant
24
How to Use Remote Control and Local Control
25
To Enable Remote Control
25
Remote ON/OFF Control and Emergency Stop
25
Connecting the ON/OFF Control
25
Connecting the Remote Emergency Stop
25
8 OEM Control Box Specifications
27
Technical Specifications
27
Electrical Specifications
27
Control Unit Heat Dissipation
27
Dimensional Drawings [MM]
28
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
Shipping Materials
33
Certification of Quality
33
Declarations According to EU Directives
33
Universal Robots UR3e Manual (30 pages)
Kinematic Calibration
Brand:
Universal Robots
| Category:
Robotics
| Size: 2 MB
Table of Contents
Table of Contents
3
Introduction
5
About this Document
5
What's in the Box
5
Terminology and Abbreviations
5
Company Details
5
Safety
6
Safety Message Types
6
General Safety Precautions
6
Dual Calibration Safety Precautions
6
Dual Robot Calibration: Preparation
7
Required Items
7
The Calibration Horse
7
How to Mount Robot Arms to the Calibration Horse
7
How to Prepare Robot Safety Settings
8
How to Prepare the Robot Network Connection
9
Method 1: Manual Connection
9
Method 2: Master/Slave Connection
11
How to Attach the Calibration Connector
13
Dual Robot Calibration: Application
15
How to Calibrate the Robots
15
Measuring Positions and Calibration Statistics
15
Verifying a Successful Calibration
16
Troubleshooting a Failed Calibration
17
Separating Calibrated Robots
17
To Separate the Calibrated Robots
18
Validating Calibration Results
18
The Go / Nogo Tools
19
Resetting a Calibration
20
Automatic Program Correction
21
Accessing the Correction Model
21
Redefining Key Waypoints
23
Using the Corresponding Tool Position (CTP)
24
Using Waypoints from Multiple Programs
25
Using Key Waypoint Groups
26
Correcting a Program
26
Tool Drawings
28
Copyright and Disclaimers
29
Universal Robots UR3e Manual (21 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 2 MB
Table of Contents
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 UR3e Original Instructions Manual (20 pages)
Brand:
Universal Robots
| Category:
Robotics
| Size: 2 MB
Table of Contents
Table of Contents
3
General Information
4
Purpose
4
Company Details
4
Disclaimer
4
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
Type of Messages
19
Change Log
20
Universal Robots UR3e Installation Manual (13 pages)
Robots with Battery Supply
Brand:
Universal Robots
| Category:
Robotics
| Size: 0 MB
Table of Contents
Table of Contents
3
Abbreviations
4
Introduction
4
Guidelines
5
Assembly Guide
6
Shopping List
8
Schematic Overview Ur3E, Ur5E, & Ur10E
9
Troubleshooting
11
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