Universal Robots UR5/CB3 Manuals

Manuals and User Guides for Universal Robots UR5/CB3. We have 2 Universal Robots UR5/CB3 manuals available for free PDF download: Original Instructions Manual, User Manual

Universal Robots UR5/CB3 Original Instructions Manual (231 pages)

Brand: Universal Robots | Category: Robotics | Size: 15.89 MB

Table of Contents
5
Preface

11
- What Do the Boxes Contain
  11
- Important Safety Notice
  11
- 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 with and Without Drive Power
  22
2 Safety-Related Functions and Interfaces

23
3 Transportation

31
4 Mechanical Interface

33
- Introduction
  33
- Workspace of the Robot
  33
- Mounting
  34
- Maximum Payload
  37
5 Electrical Interface

39
- Introduction
  39
- Electrical Warnings and Cautions
  40
- Controller I/O
  41
- Common Specifications for All Digital I/O
  41
- Safety I/O
  41
  - General Purpose Digital I/O
    41
  - Digital Input from a Button
    47
  - General Purpose Analog I/O
    47
  - Remote ON/OFF Control
    49
  - Tool I/O
    50
    
    Tool Digital Outputs
    51
    
    Tool Digital Inputs
    52
    
    Tool Analog Inputs
    52
  - Ethernet
    53
  - Mains Connection
    54
  - Robot Connection
    55
6 Maintenance and Repair

57
- Safety Instructions
  58
7 Disposal and Environment

59
8 Certifications

61
9 Warranties

63
- Product Warranty
  63
- Disclaimer
  64
A Stopping Time and Stopping Distance

65
- Stop Category 0 Stopping Distances and Times
  66
B Declarations and Certificates

67
- EU Declaration of Incorporation in Accordance with ISO/IEC 17050-1:2010
  68
- Safety System Certificate
  69
- TUV Rheinland
  70
- China Rohs
  71
- KCC Safety
  72
- Environmental Test Certificate
  73
- EMC Test Certificate
  74
- Cleanroom Test Certificates
  76
C Applied Standards

77
D Technical Specifications

85
E Safety Functions Tables

87
- Table
  87
- Polyscope Manual
  
  93
10 Safety Configuration

95
- Introduction
  95
- Changing the Safety Configuration
  96
- Safety Synchronization and Errors
  97
- Tolerances
  98
- Safety Checksum
  98
- Safety Modes
  98
- Freedrive Mode
  99
  - Backdrive
    99
- Password Lock
  100
- Apply
  100
- General Limits
  101
- Joint Limits
  103
- Boundaries
  104
  - Selecting a Boundary to Configure
    105
  - Visualization
    105
  - Safety Plane Configuration
    106
  - Tool Boundary Configuration
    108
- Safety I/O
  110
  - Input Signals
    110
  - Output Signals
    112
11 Begin Programming

115
- Introduction
  115
- Getting Started
  115
  - Installing the Robot Arm and Control Box
    116
  - Turning the Control Box on and off
    116
  - Turning the Robot Arm on and off
    116
  - Quick Start
    117
  - The First Program
    117
- Polyscope Programming Interface
  118
- Welcome Screen
  120
- Initialization Screen
  121
12 On-Screen Editors

123
- On-Screen Expression Editor
  123
- Pose Editor Screen
  126
13 Robot Control

127
- Move Tab
  127
  - Robot
    127
  - Feature and Tool Position
    128
  - Move Tool
    128
  - Move Joints
    128
  - Freedrive
    128
  - I/O Tab
    129
  - Modbus
    130
- Automove Tab
  130
- Installation Load/Save
  132
- Installation TCP Configuration
  133
  - Adding, Renaming, Modifying and Removing Tcps
    133
  - Active TCP
    134
  - Default TCP
    134
  - Teaching TCP Position
    134
  - Teaching TCP Orientation
    135
  - Payload
    135
  - Center of Gravity
    135
- Installation Mounting
  136
- Installation I/O Setup
  137
  - I/O Signal Type
    137
  - Assigning User-Defined Names
    137
  - I/O Actions and I/O Tab Control
    138
- Installation Safety
  138
- Installation Variables
  139
- Installation MODBUS Client I/O Setup
  140
- Installation Features
  143
  - Using a Feature
    144
  - New Point
    145
  - New Line
    145
  - Plane Feature
    146
  - Example: Manually Updating a Feature to Adjust a Program
    147
  - Example: Dynamically Updating a Feature Pose
    148
- Conveyor Tracking Setup
  149
- Smooth Transition between Safety Modes
  149
  - Adjusting Acceleration/Deceleration Settings
    150
- Installation Default Program
  150
- Log Tab
  151
  - Saving Error Reports
    152
- Load Screen
  152
- Run Tab
  155
14 Programming

157
- New Program
  157
- Program Tab
  158
  - Program Tree
    158
  - Program Execution Indication
    159
  - Search Button
    159
  - Undo/Redo Buttons
    159
  - Program Dashboard
    160
  - Variables
    160
  - Command: Move
    161
  - Command: Fixed Waypoint
    164
  - Command: Relative Waypoint
    169
  - Command: Variable Waypoint
    170
- Command: Direction
  170
- Command: until
  171
- Command: Wait
  173
- Command: Set
  173
- Command: Popup
  174
- Command: Halt
  175
- Command: Comment
  175
- Command: Folder
  176
- Command: Loop
  176
- Command: if
  177
- Command: Subprogram
  178
- Command: Assignment
  179
- Command: Script
  180
- Command: Event
  181
- Command: Thread
  182
- Command: Switch
  182
  - Timer
    183
- Command: Pattern
  184
- Command: Force
  185
- Command: Pallet
  188
- Command: Seek
  189
- Command: Conveyor Tracking
  192
- Command: Suppress
  193
- Graphics Tab
  193
- Structure Tab
  194
- Variables Tab
  195
- Command: Variables Initialization
  196
15 Setup Screen

197
- Language and Units
  198
- Update Robot
  199
- Set Password
  200
- Calibrate Screen
  201
- Setup Network
  201
- Set Time
  202
- Urcaps Setup
  203
- EUROMAP 67 Interface III-1
  
  205
18 Gui

213
- EUROMAP 67 Program Template
  213
- I/O Overview and Troubleshooting
  214
  - Control
    215
  - Manufacturer Dependent
    216
  - Safety
    216
  - Status
    216
- Program Structure Functionality
  216
  - Startup Check
    217
  - Free to Mould
    217
  - Wait for Item
    218
  - Ejector Forward
    219
  - Ejector Back
    220
  - Core Pullers in
    220
  - Core Pullers out
    221
- I/O Action and Wait
  221
19 Installing and Uninstalling the Interface III-19

223
- Installing
  223
- Uninstalling
  224
20 Electrical Characteristics III-21

225
- MAF Light Guard Interface
  225
- Emergency Stop, Safety Devices and MAF Signals
  225
- Digital Inputs
  226
- Digital Outputs
  228

Universal Robots UR5/CB3 User Manual (20 pages)

Brand: Universal Robots | Category: Robotics | Size: 2.14 MB

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Universal Robots UR5/CB3 Manuals

Universal Robots UR5/CB3 Original Instructions Manual (231 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

E Safety Functions Tables

Polyscope Manual

10 Safety Configuration

11 Begin Programming

12 On-Screen Editors

13 Robot Control

14 Programming

15 Setup Screen

EUROMAP 67 Interface III-1

18 Gui

19 Installing and Uninstalling the Interface III-19

20 Electrical Characteristics III-21

Universal Robots UR5/CB3 User Manual (20 pages)

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