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UR-6-85-5-A User Manual

1. The above example shows how to connect a simple button or switch A bad quality switch might trigger the input twice due to a long mechanical stabilizing time of the two conducting surfaces However in most programs it will not cause problems Digital Input Simple Button 24V 24v 24V 24v 24v 24V 24V GND GND GND DOO DO1 DO2 LLL em fF pr Button The above illustration shows how to connect a button using an external power source Remember that table 2 6 specifies the valid supply voltage for this case Signal Communication with other Machinery or PLCs If communication with other machinery or PLCs is needed and the signal driver is both sinking and sourcing communication is done by direct wiring Since the digital outputs of a UR robot are only sinking a pull up resistor is needed An example where two UR robots are communicating with each other is illustrated below Robot 1 Robot 2 20 The UR robot on the left side is communicating with the robot on the right side A typical value for the resistor shown is 10kohm The three terminal box is just a terminal strip 25 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O
2. lt unnamed gt Command Graphics Structure 0 Waypoint aj a Action A Source Expression v y do Pallet Assignment so Pattern s PalletSequence o PatternPoint_O Assigns the selected variable with the value of the expression Action E Variable Expression Waypoint 9 de Destack o StartPos_O var_1 MA 9 o gt Direction e FromPos 0 Rename gt Edit Expression o ToPos_0 j ee PickSequence o StackPos_0 Action Wait o Waypoint Wait 9 V Folder lt empt Comment Halt Popup 7 Y Loop lt empt E Script var_1 1 1 x 4 D gt Q Simulati l i z Robo d gt h CI Speed 1100 Previous Next gt 1 1 Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in complex programs 3 4 17 Program Command Tab If File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables do Destack a o StanPos_0 mE 9 Se Direction e FromPos_0 If e ToPos_0 q s PickSequence Depending on the state of the given sensor input or program variable StackPos_0 the following lines will be executed Action _ Wait o Waypoint L f Wait E 7 Z 9 Y Folder L Che
3. Cancel Simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number 3 2 2 On screen Keyboard me a ta la a Gaa a 0 Sale alado lalala AI S D FI GIHIJ amg VLS i X Cancel Simple text typing and editing facilities The Shift key can be used to get some additional special characters 37 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 2 3 On screen Expression Editor m 1 lt lt and or xor not True HI A aa a gt lt gt 2 lt False LO 8 9 a 4 5 6 lt Input gt v lt Output gt y da lt Variable gt x lt Waypoint gt al 1 2 3 E _ P OK lt Function gt i 0 SHIFT YX Cancel While the expression itself is edited as text the expression editor has a num ber of buttons and functions for inserting the special expression symbols such as x for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All de fined variables
4. Wait 9 V Folder lt empt Comment Halt E Popup x Hide Folder Program Tree 4 D Simulation Md gt E Speed 1 100 Previous Next gt Real Robot P i A folder is used to organize and label specific parts of a program to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 3 4 14 Program Command Tab Loop File O Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure 9 V Movej Io o Waypoint V Move Loop o Waypoint Action E z a 9 3 Pallet Please select how many times the program in this loop should be executed se Pattern 9d PalletSequence o PatternPoint_O Action Bs e i A ai Loop 0 times using variable Loop o Waypoint 9 oo Destack StartPos_O e Direction o FromPos_0 Edit Expression o ToPos_0 o gt PickSequence O Check expression continuously o StackPos_0 Action Wait o Waypoint Wait 9 V Folder Q Loop always Q Loop as long as the following expression is true lt empt Comment Halt Popup E V Loop ba 4 QO Simulati A gt E E HE Speed 0 100 Previous Next gt Loops the underlying p
5. Parameter Min Typ Max Unit Valid output voltage in current mode O 10 V Valid output current in voltage mode 20 20 mA Short circuit current in voltage mode 40 mA Output resistance in voltage mode 43 TBD ohm Offset error O 4mA load 5000hm TBD mA Total error 20mA load 5000hm TBD mA Offset error O OV load IMohm 0 5 TBD mV Total error O 5V load 1Mohm 50 TBD mV Table 2 7 Data specification of analog outputs TBD To Be Determined Note that if the robot on the left side of the illustration is turned off the input signal of the right robot will be high and this can lead to unexpected behavior Combining the emergency stop circuitry between the robots should be consid ered to avoid these situations 2 4 3 Analog Outputs The analog outputs can be set for both current mode and voltage mode in the range of 4 20mA and 0 5V respectively The analog outputs are limited by the data shown in table 2 7 To illustrate clearly how easy it is to use analog outputs some simple exam ples are shown Using the Analog Outputs AG AO1 Analog controlled actuator eee AG Aoo O_O gt gt This is the normal and best way to use analog outputs The illustration shows a setup where the robot controller controls an actuator like a conveyor belt The best result is accomplished when using current mode because it is more immune t
6. Table 2 1 Abbreviations for the emergency stop interface 2 2 The Emergency Stop Interface UNIVERSAL ROBOTS Analog Analog Inputs Outputs i Digital Outputs Digital Inputs Inside the controller box there is a panel of screw terminals as shown above It is only the leftmost part which is used for the emergency stop functions the other terminals are normal I O as shown below 1 Emergency stop E24 EG ERI ERI 1 24V 24V 24V 24V 24V 24V 24V 24V 24V24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V Al Al AG A01 e a ic TR ido de id id A TO A Jo a ia TIRAR EER RE A E je o ll E ee ee ee ee tage E kt ke pt pt pi 10 Le gS e A a 1 A En i i i i i SUEDE Pe Pe Pe Pe Pe Pe Pe ett to it jte L L L L non SWI SWI SWO swo ERO ERO GND GND GND GND DOO DO1 DO2 DO3 DO4 DOS DO6 1D07 DIO DIL DI2 DI3 DI4 DIS DIG DI7 AO A0 AGE aoo te te 7 tr tr tr tT Tt tT i E SMR Tle E a a E Proa O A O Mocs ODIA DOG SAA A E TAE e E A A PEE A ETE FEAN eka ogg A ela O Deg ee A e e E a a E E E AO A O O RAE SE gece O SES A A A aa pa a a a pa aaa a a a ea e i T tjap eee ies mai rjr al pes es a jaa mae The abbreviations are explained in table 2 1 Note that connecting and configuring the
7. Prefer value from previous run lt empt Comment Halt 4 4 zn D z D git HH le wt T Clear Expression il Lp Edit Expression Q Simulati a Real Robot Kd gt PL OM Speed O100 Previous Next gt This screen allows setting variable values before the program and any threads start executing Select a variable from the list of variables by clicking on it or by using the variable selector box For a selected variable an expression can be entered that will be used to set the variable value at program start 69 UR 6 85 5 A UNIVERSAL ROBOTS 3 5 Setup If the Prefers to keep value from last run checkbox is selected the vari able will be initialized to the value found on the Variables tab described in section 3 4 27 This permits variables to maintain their values between program executions The variable will get its value from the expression if the program is run for the first time or if the value tab has been cleared A variable can be deleted from the program by setting its name to blank only spaces 3 5 3 5 1 Setup Setup Screen SETUP Robot O Please select INITIALIZE Robot LANGUAGE Select UPDATE Robot Set PASSWORD CALIBRATE Screen lt version info not available gt Setup NETWORK
8. 5 2 8 Identity and Signature of the Empowered Person Name Lasse Kieffer Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8971 E mail address kieffer universal robots com Signature 80 UR 6 85 5 A
9. Time Figure 3 1 Speed profile for a motion The curve is divided into three segments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter 3 4 4 Program Command Tab Move File Program Installation Move 1 0 Log B lt unnamed gt Command Graphics Structure Variables Init Variables a Y Robot Program 7 Y Move Move o Waypoint 3 a 9 v Move Here you can tell the robot how it should move between two positions by a Waypoint setting some waypoints that the robot should move through Action yd ma e _ You probably need just one or two waypoints but you can have as many as e ralceeaieice you like Use the buttons below to increase or decrease the number of o PatternPoint_O waypoints Action Wait o Waypoint Se Destack o StartPos_O 9 oe Direction o FromPos_0 Shared Parameters o ToPos_O A 9 amp PickSequence Move Tool Linearly L o StackPos_0 i Action Joint Speed 60 0 deg s aie Wait o Waypoint Joint Acceleration 80 0 deg s He Wait y Folger y Reset to defaults Comment Bl iy Halt x Add Waypoint 4 il D gt Q Simulation ll gt P E Speed 100 Previous Next gt Real Robot Po PL PP kasana
10. This connector provides power and control signals for basic grippers and sen sors which may be present at on specific robot tool The reason for having this connector is to save the wiring between the tool and the controller box It is of 28 UR 6 85 5 A 2 5 Tool I O UNIVERSAL ROBOTS Colour Signal Red OV GND Gray 0V 12V 24V POWER Blue Digital output 8 DO8 Pink Digital output 9 DO9 Yellow Digital input 8 DI8 Green Digital input 9 DIO White Analog input 2 Al2 Brown Analog input 3 Al3 Table 2 9 Relation between cable colours and functions Parameter Min Typ Max Unit Supply voltage in24V mode TBD 24 TBD V Supply voltage in 12V mode TBD 12 TBD V Supply current in both modes 600 mA Short circuit current protection 650 mA Capacitive load TBD uF Inductive load TBD uH Table 2 10 Data specification of tool power supply TBD To Be Determined course necessary to add wires if the I O provided is insufficient The connector is a standard Lumberg RSMEDG8 which mates with a cable named RKMV 8 354 Table 2 9 shows the different O and the corresponding cable colors Note that the tool flange is connected to GND same as the red wire The available power supply can be set to either OV 12V or 24V at the I O tab in the graphical user interface see section 3 3 2 Take care w
11. lt empt script var_1 14 1 AN P Call SubProg_0 Edit Condition 9 Vif a q oe Pallet Qo Pattern Box a 1st_Corner e 2nd_Cornen o 3rd_Corner e 4th_Corner 9d PalletSequence o PatternPoint Action H Wait o Waypoint 3 Event y 4 il D gt QO Simulati f i gt uian IGC E Speed 0 100 Previous Next gt An event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in the event that 59 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 20 Program Command Tab Thread an output signal goes high the event program can wait for 100ms and then set it back to low again This can make the main program code a lot simpler in the case on an external machine triggering on a rising flank rather than a high input File Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Action a Wait E o Waypoint Thread Wait 9 V Folder A thread is a parallel program that runs along with the main program A lt empt thread can perform I O wait for signals and set variables T ae Useful for controlling other machines while the robot is running Hal Popup Y Loop lt empt El Script var_l 14 1 P Call SubProg_0 q Vit 9 oe Pallet 9 ee Pa
12. Set Digital Output lt Di Output gt Off Open pr C Set the total payload to 0 0 kg 55 Comment Halt pi Popup 4 gt gt aes gt HE Speed 0100 Previous Next gt Sets either digital or analog outputs to a given value Can also be used to set the payload of the robot for example the weight that is picked up as a consequence of this action Adjusting the weight can be neccesary to prevent the robot from security stopping unexpectedly when the weight at the tool is different to that which is excpected 3 4 10 Program Command Tab Popup File O Program Installation Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move a o Waypoint V Move Popup o Waypoint Action Shows the message below on the screen and waits for the user to press 9 se Pallet oK se Pattern 9 PalletSequence o PatternPoint_O Action l gt Wait Popup type Preview Popup o Waypoint 9 oo Destack O Message StartPos_0 QO Warning 9 ee Direction o FromPos_0 Error e ToPos_0 9 Se PickSequence o StackPos_0 Action Wait o Waypoint Wait 9 V Folder IIL lt empt Comment Halt Popup O Halt program execution at this popup 4 gt QO Si
13. 1 Make sure that the product comply with all essential requirements 2 Make a risk assessment 3 Clarify instructions for the operator 4 Make a declaration of conformity 5 Collect all information in a technical file 6 Put a CE mark on the robot installation In a given robot installation the integrator is responsible for the compliance with all relevant directives Universal Robots takes responsibility for the robot itself complying with the relevant directives Universal Robots provides a safety guide available at http www universal robots com for integrators with little or no experience in making the necessary documentation 4 3 Risk assessment One of the most important things that an integrator needs to do is to make a risk assessment Universal Robots has identified the potential significant hazards listed below as hazards which must be considered by the integrator Note that other significant hazards might be present in a specific robot installation 1 Entrapment of fingers between robot foot and base joint 0 2 Entrapment of fingers between the arm and wrist joint 4 75 UNIVERSAL ROBOTS 4 3 Risk assessment 3 Penetration of skin by sharp edges and sharp points on tool or tool con nector 4 Penetration of skin by sharp edges and sharp points on obstacles near the robot track 5 Bruising due to stroke from the robot 6 Sprain or bone fracture due to strokes between a heavy payload and
14. 3 1 Introduction UNIVERSAL ROBOTS 3 1 1 Welcome Screen PolyScope Robot User Interface 0 Please select RUN Program UNIVERSAL ROBOTS a SETUP Robot About SHUT DOWN Robot After booting up the controller PC the welcome screen is shown The screen offers the following options e Run Program Choose a program to run This is the simplest way to op erate the robot but requires a suitable program to have already been produced e Program Robot Change a program or create a new program Setup Set passwords upgrade software via the Internet request support calibrate the touch screen etc e Shut Down Robot Shuts down the Controller PC and powers off the robot 35 UR 6 85 5 A UNIVERSAL ROBOTS 3 1 Introduction 3 1 2 Initialization Screen Initialize Robot O Push Auto until all lights turn green Rotate joints individually if necessary 9O0N OFF RobotPower Y Robot Auto lt UNDEFINED gt Auto lt UNDEFINED gt Base Shoulder Auto lt UNDEFINED gt Elbow Auto lt UNDEFINED gt Wrist 1 Auto lt UNDEFINED gt Wrist 2 Auto lt UNDEFINED gt Wrist 3 Auto lt UNDEFINED gt 3 le elle le sepan e ells e Tool lt UNDEFINED gt L X Exit On this screen you control the initialization of the robot When turned on the robot needs to find the positions of each joint To get the joint p
15. Initialize Robot Goes to the initialization screen see section Request Support Opens a port in the robot that permits external access over the Internet Update Upgrades the robot software to a newer version via the Internet see section Set Password Provides the facility to lock the programming part of the robot to people without a password see section 3 5 5 Calibrate Screen Calibrates the touch of the touch screen see sec tion Setup Network Opens the interface for setting up the Ethernet network for the robot see section Back Returns to the Welcome Screen 70 UR 6 85 5 A 3 5 Setup UNIVERSAL ROBOTS 3 5 2 Setup Screen Initialize Initialize Robot O Push Auto until all lights turn green Rotate joints individually if necessary ON OFF Robot Power Y Robot Auto lt UNDEFINED gt o Base lt a DD Auto lt uNDEFINED gt Shoulder lt a E gt Auto lt UNDEFINED gt Elbow lt a auto lt UNDEFINED gt o Wrist 1 lt a auto lt uNDEFINED gt o Wrist 2 lt a auto lt UNDEFINED gt wrist3 lt a Auto lt UNDEFINED gt Tool lt UNDEFINED gt o X Exit This screen is used when powering up the robot Before the robot can op erate normally each joint needs to move a little about 20 to finds its exact posi
16. Destacking File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move o Waypoint Destack se 9 V Move E x o Waypoint Destacking remove items one by one from a stack Action The stack is defined by the following of parameters 4 1 9 se Pallet A pe amp Pattern s The starting position d 9 PalletSequence d The direction of the stack 9 PatternPoint_O i The item thickness li Action Wait 3 o Waypoint F 9 gt Destack o StartPos_O de Direction de PickSequence Wait The next position is found when Y Folder f Edit Expression lt emp Comment Leo Item thickness Shared Parameters V Loop Fl wal Tool Speed 250 0 mm s pre 0 0 mm i p ana E Bscript Tool Acceleration 1200 0 mm s 3 Sequence BeforeStart P Call E Ja Reset to default a Vit y Sequence AfterEnd TANS ELIS 4 gt A hed gt al M Speed 100 Previous Next When destacking the robot moves from the starting position in the given direc tion to search for the next item When found the robot remembers the position and performs the special sequence The next time round the robot starts the 64 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS search from the remembered position incremented by the item thickness along the di
17. Wait o Waypoint 9 de Destack o StanPos_0 9 s Direction A omr ose Show advanced options o ToPos_0 se PickSequence o StackPos_0 Qo Stop at this point Action Blend with radius Wait o Waypoint Wait 9 V Folder Set this waypoint Comment E e 7 r Halt Remove this waypoint Add waypoint before Add waypoint after 4 Il O si i Pa A s r Mid La m Speed 1100 Previous Next gt A point on the robot path Waypoints are the most central part of a robot program telling the robot where to be A fixed position waypoint is given by physically moving the robot to the position Waypoint names Waypoint names can be changed Two waypoints with the same name is al ways the same waypoint Waypoints are numbered as they are specified Blend radius If a blend radius is set the robot trajectory blends around the waypoint allowing the robot not to stop at the point Blends cannot overlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or following waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If a waypoint is a stop point with an I O command as the next command the 1 0 command is executed when the robot stops at the waypoint However if the waypoint has a blend radius the following I O command is executed when the robot
18. Commercial name UR 6 85 5 A 5 2 4 Essential Requirements The individual robot installations have different safety requirements and the in tegrator is therefore responsible for all hazards which are not covered by the general design of the robot However the general design of the robot includ ing its interfaces meets all essential requirements listed in annex of 2006 42 EC The technical documentation of the robot is in accordance with annex VII part B of 2006 42 EC 78 UR 6 85 5 A 5 2 Declaration of Incorporation UNIVERSAL ROBOTS Applied directives 2006 42 EC Machinery Directive 2004 108 EC EMC Directive 2002 95 EC ROHS Directive 2002 96 EC WEEE Directive Applied harmonized standards IEC 61000 6 2 ED 2 0 2005 Under applied directives IEC 61000 6 4 ED 2 0 2006 EN 61000 6 2 2005 EN 61000 6 4 2007 EN ISO 13849 1 2008 EN ISO 10218 1 2008 Partly EN ISO 13850 2008 EN ISO 14121 1 2007 EN 1037 1995 Applied general standards EN ISO 9409 1 2004 Partly Not all standards are listed EN ISO 9283 1999 Partly EN ISO 9787 2000 Partly EN ISO 9946 2000 Partly EN ISO 8373 1996 Partly EN 60947 5 5 A 1 2005 IEC 60947 5 5 1997 A1 2005 ISO TR 14121 2 2007 EN 60529 A 1 2002 EN ISO 1101 2006 EN 20286 1 1993 EN 20286 2 1993 Note that the low voltage directive is not listed The machinery directive 2006 42 EC and the low voltage directives are primary directives A product can only be cove
19. Move Tool e Holding down A translate arrow top will move the tool tip of the robot in the direction indicated e Holding down a rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the TCP drawn as a small green ball Note Release the button to stop the motion at any time Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further away from 0 Backdrive While the Backdrive button is held down it is possible to physically grab the robot and pull it fo where you want it to be If the gravity setting see 3 3 6 in the Setup tab is wrong or the robot carries a heavy load the robot might start moving falling when the Backdrive button is pressed In that case just release the Backdrive button again 39 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control Configuration With these buttons you can change the joint position in such a way that the tool of the robot does not change position but the robot arm changes side Beware of collisions when using this feature 3 3 2 1 O Tab File Program Installation Move 1 0 Log Controller Input Tool Input Digital Digital 0 1 2 3 4 5 6 7 8 9 HI Lo S
20. Note The pause interface can at most be used as a category 1 safeguard interface Using the pause interface the robot program can pause due to an external event The external event can be caused by a light braker circuit a pressure sensitive floor mat or a similar device that can give a signal when a person is near the robot When paused the program can be resumed without loss of program state To resume the program click Continue on the Popup on the screen 2 3 1 Connecting to the Pause Interface Install the pause interface as shown pnl You need a Pause connector Locate the Pause placeholder plug Plug in the Pause connector When the PUSE conect is in place a pause device can be wired as shown below Amoa TRE C 21 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O 2 4 Controller I O UNIVERSAL ROBOTS I Digital Outputs Digital inputs Analog Analog eer Nee ee Inputs Outputs Inside the controller box there is a panel of screw terminals with various O parts as shown above The leftmost part of this panel is used for the emergency stop functionality as shown below Ana og Analog 1 H i Digi Power Digital Outputs Digital Inputs Inputs Outputs AG AO1 AG 24V 24V 24V 24V 24V 24V 24V
21. Real Robot Med gt Lal E Speed 100 Previous Next gt Graphical representation of the current robot program The path of the TCP is shown in the 3D view with motion segments in black and blend segments transitions between motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D draw ing of the robot shows the current position of the robot and the shadow of the robot shows how the robot intends to reach the waypoint selected in the left hand side of the screen The 3D view can be zoomed and rotated to get a better view of the robot The buttons in the top right side of the screen can disable the various graphical components in the 3D view The motion segments shown depends on the selected program node If a Move node is selected the displayed path is the motion defined by that move If A Waypoint node is selected the display shows the following 10 steps of movement 67 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 26 Program Structure Tab File O T Program i Installation Move 1 0 Log A lt unnamed gt Command Graphics Structure l Y Robot Program 2 lt empty gt Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait 1 0 A
22. mA Capacitive load at connection 24V TBD uF Inductive load at connection 24V TBD UH Table 2 4 Normal I O interface data TBD To Be Determined AA 00000 06 IL Robot power ON OFF control The left part shows the general purpose 24V power supply which the user can use for basic controlling and powering Note that the 24V is only turned on when the robot is turned on This also means that if an operator pushes the emergency stop button then the power disappears Just remember that the 24V may not source or control any functions which can lead to dangerous situations according to the risk assessment The general data on the 24V power supply is shown in table 2 4 Note that connection E24 is sourced by the same internal 24V regulator as the normal I O and that the maximum of 800mA is for both power sources together The internal control system will power off the robot if the current exceeds its limit This will also generate an error message in the robot log The next subsec tions show some simple examples of how to use the different I O functionalities 2 4 1 Digital Outputs The digital outputs are implemented so that they can only sink to GND OV and not source current When a digital output is activated the corresponding connection is driven to GND and when it is deactivated the corresponding connection is open open collec
23. 24V SENSOR When longer cables are used or if it is a very noisy environment current based signals are preferred Also some equipment comes only with a current output To use current as inputs an external resistor is needed as shown above The value of the resistor would normally be around 200 ohms and the best result is accomplished when the resistor is close to the screw terminals of the controller Note that the tolerance of the resistor and the ohmic change due to tempera ture must be added to the error specifications of the analog inputs Using Analog Inputs Non differential Current Input av Pan 24v 24v SENSOR GND GND GND GND If the output of the equipment is a non differential current signal a resistor must be used as shown above The resistor should be around 200 ohms and the re lationship between the voltage at the controller input and the output of the sensor is given by Voltage Current x Resistance Note that the tolerance of the resistor and the ohmic change due to tempera ture must be added to the error specifications of the analog inputs 2 5 Tool I O At the tool end of the robot there is a small connector with eight connections
24. 3 3 Robot Control UNIVERSAL ROBOTS 3 3 9 Log Tab File Program Installation Move 1 0 Log Robot Health Readings Joint Load Controller Temp 00 0 C Base UNKNOWN JOINT STATE ov Robot Voltage 0 0V Shoulder UNKNOWN JOINT STATE ov Avg Robot Power W Elbow UNKNOWN JOINT STATE v ov Robot Current 0 0A Wrist 1 UNKNOWN JOINT STATE ov 10 Current 000mA wrist 2 UNKNOWN JOINT STATE x ov Tool Current 000MA Wrist 3 UNKNOWN JOINT STATE ov 0n 257 days 37H and so on running 254 days 105 hours T 0083d10h39m20 584s PolyScope lt version info not available gt T 0083d11h04m24 600s RTMachine Program speedj_init started T 0083d11h04m27 096s RTMachine Program sim_automatic_move started T 0083d11h04m33 056s RTMachine Program step_forward started gt lt gt im Robot Health The top half of the screen displays the health of the robot The left part shows information related to the control box of the robot while the right part shows information about each robot joint Each robot joint shows informa tion for temperaure of the motor and electronics the load of the joint and the voltage at the joint Robot Log On the bottom half of the screen log messages are shown The first column shows the time of arrival of the message The next column shows the sender of the message The last column shows the message itself 3 3 10 Load Screen On this screen you choose which program to
25. Contents UNIVERSAL ROBOTS 4 5 de ds AE 71 3 5 5 Setup Screen Password 0 o ee 72 ee E E 72 3 5 7 Setup Screen Network 0 73 Safety 75 ALI Introduction oaa a a a a 75 a ee ee E R ee 75 4 3 Risk ASSESSMENT aoaaa a a a 75 Warranties and Declarations 77 5 1 WarrQanTyY os be a esnek arinin aeea a i aitaa 77 9 1 1 Product Warranty oaa a 77 5 1 2 Disclaimer e e 77 ERROR 78 9 2 1 Product manufacturer o e 78 78 9 2 3 Description and Identification of Product 78 9 2 4 Essential Requirements a 78 Edo Peres amp s 79 9 2 6 Important Notice aoaaa a a 80 LD aoe REEERE 80 9 2 8 Identity and Signature of the Empowered Person 80 5 UR 6 85 5 A UNIVERSAL ROBOTS Contents 6 UR 6 85 5 A Chapter 1 Getting started 1 1 Introduction Congratulations on the purchase of your new Universal Robot UR 6 85 5 A The robot is a machine that can be programmed to move a tool and com municate with other machines using electrical signals Using our patented pro gramming interface PolyScope it is easy to program the robotto move the tool along a desired trajectory PolyScope is described in section 3 The reader of this manual is expected to be technically minded to be fa miliar with the basic general concepts of programming be able to connect a wire to a screw terminal and be a
26. 4 4 Mounting the Controller Box The controller box can be mounted using the two holes on the back of the controller box or it can be placed on the ground 1 4 5 Mounting the Touch Panel The touch sensitive screen can be hung on a wall or on the controller box Extra fittings can be bought 1 4 6 Connecting the Robot Cable The cable from the robot must be plugged in to the connector at the button of the controller box Ensure that the connector is properly locked Connecting and disconnecting the robot cable may only be done when the robot power is turned off which is easily ensured by pushing the emergency stop button on the front side of the controller box 1 4 7 Connecting the Mains Cable The mains cable from the controller box has a standard IEC plug in the end Connect a country specific mains plug or cable to the IEC plug Remember to use a cable with specifications as shown with the mains specifications in ta ble 1 1 The controller box should be connected to earth by the mains cable If other earth connections are needed for external equipment please use the M8 screw at the bottom right corner of the controller box as shown below 15 UR 6 85 5 A UNIVERSAL ROBOTS 1 4 Mounting Instructions 16 UR 6 85 5 A Chapter 2 Electrical Interface 2 1 Introduction There are electrical inputs outputs 1 Os inside the controller box and at the robot tool flange Some of the I Os inside the controller box are d
27. Digital Output External Power 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V LOAD GND GND GND GND DOO DO1 DO2 DO3 DO4 DO5 DO6 DO7 If the available current from the internal power supply is not enough or if the load needs another voltage such as 12V simply use an external power supply as shown above Another basic way to use digital outputs is to communicate with other indus trial equipment such as PLCs or another UR robot An example of this is shown in the next section which describes the digital inputs 2 4 2 Digital Inputs The digital inputs are implemented with weak pull down resistors This means that a floating input will always read low The voltages at which the inputs are guaranteed to read low or high are shown with the other data in table 2 6 To make it clear how easy it is to use digital inputs some simple examples are shown 24 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Input voltage 0 5 26 V Logical low voltage 2 0 V Logical high voltage 5 5 V Input resistance 47k ohm Table 2 6 Data specification of digital inputs Digital Input Simple Button 24V Pav al 24V al 24V DIO DI1 DI2 alc DIS Alc E as Button
28. Pattern 9 s PalletSequence i 0 01 o PatternPoint_O O wait 0 01 seconds i Action Wait O Wait for Digital Input lt Di Input gt M LO o Waypoint 9 de Destack o StanPos_0 9 Se Direction mm o FromPos_0 The I O tab shows the live I O data 1 O Tab o ToPos_0 9 s PickSequence o StackPos_0 Action Wait Waypoint Wait 9 V Folder lt empt O Wait for Analog Input lt An Input gt E lt x 0 0 Volts Comment Halt Popup 4 ad C Speed 100 Previous Next gt 53 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Waits for a given amount of time or for an O signal 3 4 9 Program Command Tab Action File Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program a V Move neve Action 9 V Move o Waypoint Action 9 So Pallet se Pattern s PalletSequence PatternPoint_O Action gt Wait Set Analog Output lt An Output gt ly 4 0 mA i o Waypoint g e Destack StartPos_O Se Direction o FromPos_0 Perform action now e ToPos_0 eo PickSequence o StackPos_0 A Action Wait o Waypoint Wait 9 V Folder lt empt Select the action you wish the robot to perform at this point in the Q No Action
29. TBD To Be Determined 2 4 4 Analog Inputs The analog inputs can be set to four different voltage ranges which are im plemented in different ways and therefore can have different offset and gain errors The technical data defining limitations on the analog inputs are shown in table 2 8 The specified differential mode input voltage is only valid with a common mode voltage of OV To make it clear how easy it is to use analog outputs some simple examples are shown Using Analog Inputs Differential Voltage Input 24V PAV 24V 24V Al Al SENSOR GND GND GND GND The simplest way to use analog inputs The equipment shown which could be a sensor has a differential voltage output Using Analog Inputs Non differential Voltage Input av an 24v SENSOR 24v Al al GND GND GND GND A0 AO If it is not possible to achieve a differential signal from the equipment used a so lution could look something like the setup above Unlike the non differential ana log output example in subsection this solution would be almost as good as the differential solutions 27 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Using Analog Inputs Differential Current Input 24V
30. You have now produced your first robot program that moves the robot between the two given positions Remember that you have to carry out a risk assessment and improve the overall safety condi tion before you really make the robot do some work 11 UR 6 85 5 A UNIVERSAL ROBOTS 1 4 Mounting Instructions Front Tilted Figure 1 2 The workspace of the robot The robot can work in an appoximate sphere 170cm around the base except for a cylindrical volume directly above and directly below the robot base 1 4 Mounting Instructions The robot consists essentially of six robot joints and two aluminum tubes con necting the robot s base with the robot s tool The robot is built so that the tool can be translated and rotated within the robot s workspace The next subsec tions describes the basic things to know when mounting the different parts of the robot system 1 4 1 The Workspace of the Robot The workspace of the UR 6 85 5 A robot extends to 850 mm from the base joint The workspace of the robot is shown in figure 1 2 It is important to consider the cylindrical volume directly above and directly below the robot base when a mounting place for the robot is chosen Moving the tool close to the cylindrical volume should be avoided if possible because it causes the robot joints to move fast even though the tool is moving slowly 1 4 2 Mounting the Robot The robot is mounted using 4 M8 bolts using the four 8 5mm holes on
31. ee mo analog_in 0 analog_in 1 analog_in 2 analog_in 3 0 000 v Jov 5v _0000v OV 5V x oo0o0v OV 5V me 0 000 V OV 5V y ov 5V ov SV Controller Output Tool Output Digital Digital 0 1 2 3 4 5 6 7 8 9 r r On Off O O Le Le bl Voltage Current analog_out 0 analog_out 1 oo A TE d Current Current Q SOORA 4mA 20mA 4mA 20mA eae Q Simulation Real Robot On this screen you can always monitor and set the live I O signals from to the robot The screen displays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly The electrical details of the signals are described in section 2 Analog Range Settings The analog output can be set to either current 4 20mA or voltage 0 10V output The analog input ranges adjusted to be from 10 10V to 0 51 The settings will be remembered for eventual later restarts of the robot controller when a program is saved 40 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS 3 3 3 AutoMove Tab The AutoMove tab is used when the robot has to move to a specific position in its workspace Examples are when the robot has to move to the start position of a program before running it or when
32. enters the blend 51 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Example Program movel WaypointStart Waypoint Waypoint2 if digital_input 1 then WaypointEnd1 else WaypointEnd2 endif This is where the input port is read Starting point Straight line segment y Waypoint 2 10cm blend Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting posi tion to one of two ending positions depending on the state of digital_input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles while the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital_input 1 sensor is read just as the robot is about to enter the blend area around Waypoint 2 even though the if then Command is after Waypoint 2 in the program sequence This is somewhat counter intuitive but is necessary to allow the robot to select the right blend path 3 4 6 Program Command Tab Relative Waypoint File Program Installation Move 1 0 Log lt unnamed gt IC Init Variables Y Robot Program 9 Y Move o Waypoint 9 V Move o Waypoint Action 9 de Pallet se Pattern s PalletSequence Action Wait o Waypoint oe Destack o StanPos_0 9 Se Direction o FromPos_0 o ToPos_0 9 PickSequence e Stac
33. moving to a waypoint while modifying a program File O Run Move 1 0 Log Automove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually Auto Manual Cancel Animation The animation shows the movement the robot is about to perform Compare the animation with the position of the real robot and make sure that robot can safely perform the movement without hitting any obstacles Auto Hold down the Auto button to move the robot as shown in the animation Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab where the robot can be moved manually This is only needed if the movement in the animation is not preferable 41 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 3 4 Installation Load Save File O Program Installation Move I O Log TCP Position Mounting Load Save Robot Installation to File 1 O Setup Def Program Load Save The Robot Installation includes the options that can be set using the tabs to the left This includes I O names TCP setup and the robots mounting The robot installation does not include a robot program Save the current installation default Ez Save Load a different installation file Load The
34. screen menu system Go to the File menu at the top left corner and choose Exit Then you see the Welcome screen which has a Shut Down button Shutting down by pulling the wall socket may cause corruption of the robot s file system which may result in a robot malfunction However if the system locks up you can force a shutdown by pushing and holding the On button at the front side of the controller box for five seconds 1 3 Quick start Step by Step To quickly set up the robot perform the following steps 1 Unpack the robot and the controller box 2 Mount the robot on a sturdy surface 3 Place the controller box on its foot 4 Plug the robot cable into the connector at the bottom of the controller Dox a Plug in the mains connector of the controller box 6 Press the Emergency Stop button on the front side of the controller box 7 Press the power button next to the Emergency Stop button at the controller box 10 UR 6 85 5 A Quick start Step by Step UNIVERSAL ROBOTS 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 Wait a minute while the system is starting up displaying text on the touch screen When the system is ready a popup will be shown on the touch screen stating that the emergency stop button is pressed Touch the To Initialization Screen button at the popup Unlock the emergency stop buttons The robot state then chang
35. specification of digital outputs TBD To Be Determined Parameter Min Typ Max Unit Input voltage O05 26 V Logical low voltage 2 0 V Logical high voltage 5 5 V Input resistance 47k ohm Table 2 12 Data specification of digital inputs Using Digital Outputs POWER GRAY DO8 BLUE This example illustrates how to turn on a load when using the internal 12V or 24V power supply Remember that you have to define the output voltage at the I O tab see section 3 3 2 Keep in mind that there is voltage between the POWER connection and the shield ground even when the load is turned off 2 5 2 Digital Inputs The digital inputs are implemented with weak pull down resistors This means that a floating input will always read low The digital inputs at the tool are im plemented in the same way as the digital inputs inside the controller box The voltages at which the inputs are guaranteed to read low or high are shown with the other data in table 2 12 To illustrate clearly how easy it is to use digital outputs a simple example is shown Using Digital Inputs POWER GRAY DI8 YELLOW The above example shows how to connect a simple button or switch A bad quality switch might trigger the input twice due to a long mechanical stabilizing 30 UR 6 85 5 A 2 5 Tool I O UNIVERSAL ROBOTS Parameter Min Typ Max Uni
36. template or from an existing saved robot program A template can provide the overall program structure so only the details of the program need to be filled in 3 4 2 Program Tab File Program Installation Move 1 0 Log New Program Load From File Load Program Use Template Pick and Place Empty Program CIQILJO The program tab shows the current program being edited The program tree on the left side of the screen displays the program as a list of Commands while the area on the right side of the screen displays infor mation relating to the current command The current command is selected by clicking the command list or by using the Previous and Next buttons on the bottom right of the screen Commands can be inserted or removed using the 48 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Structure tab described in section 3 4 26 The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard The Dashboard features a set of buttons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allow you to adjust the program speed at any time which directly affects the speed at which the robot moves To the left of the Dashboard the Simulation and Real Robot buttons toggle between running the p
37. 24V 24V Al Al O00 DIO DM DI2 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V DI3 Di4 DIS AOO 7 DI6 DI7 AO A0 DO3 DO4 DO5 DO6 DO7 Note that any change in the emergency stop circuitry can lead to a dangerous robot condition even though the robot emergency stop functionality seems to be present Never combine the emergency stop circuit with the normal I O The abbreviations of the I O panel are explained in table 2 3 24V 24V power supply GND OV GND connection DOx Digital output number x DIx Digital input number x AOx Analog output number x plus AG Analog output GND Ax Analog input number x plus Ax Analog input number x minus Table 2 3 Abbreviations for the I O interface inside the controller box To get a good understanding of the I O interface a simplified version of the internal circuitry is shown below 22 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Voltage available at connection 24V TBD 24 TBD V Current available at connection 24V 800 mA Short circuit current protection 850
38. 63 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Stacking File Program Installation Move I O Log lt unnamed gt Command Graphics Structure V Robot Program 2 V Move o Waypoint V Move o Waypoint Action 9 se Pallet se Pattern s PalletSequence o PatternPoint_O Action Wait o Waypoint oo Seek Select Seek Type A seek operation is given by a starting position s and a direction d Please select between stacking and destacking Wait Y Folder lt empt Comment Halt Stacking Destacking Popup 9 V Loop lt empt Blscript f P Call d Fr empt se Pattern Z E Event 4 G tf li Q Simulation Real Robot iea gt a a Speed 1 100 Previous Next gt When stacking the robot moves to the starting position and then moves opposite the direction to search for the next stack position When found the robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction The stacking is finished when the stack hight is more than some defined number or when a sensor gives a signal
39. ANCEL Calibrating the touch screen Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a closed pen Patience and care help achieve a better result 72 UR 6 85 5 A 3 5 Setup UNIVERSAL ROBOTS 3 5 7 Setup Screen Network SETUP Robot Please select INITIALIZE Robot LANGUAGE Select UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Please select your network method Network detailed settings IP address 0 Subnet mask 0 Default gateway 0 Preferred DNS server 0 Alternative DNS server 0 DHCP Static Address Disabled network 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Setup NETWORK BACK Apply settings Update Panel for setting up the Ethernet network An Ethernet connection is not neces sary for the basic robot functions and is disabled by default 73 UR 6 85 5 A UNIVERSAL ROBOTS 3 5 Setup 74 UR 6 85 5 A Chapter 4 Safety 4 1 Introduction This chapter gives a short introduction to the statutory documentation followed by important information about the risk assessment Regarding safety in general all assembly instructions from T 4 and 2 must be followed 4 2 Statutory documentation A robot installation within the EU must comply with the machinery directive to insure its safety This includes the following points
40. D rs visa aia Be Sow Oe oe eS 23 2 4 2 Digital Inputs oy on yA A A a AA 8 a boos 24 2 4 3 Analog GD ya ci aa e EE AA E aed 26 2 4 4 Analog Inputs aora 27 eee a 28 2 5 1 Digital Outputs oaa aS Peo es be REO aoe 29 25 2 INACIO a ac acs e ae ee 30 2 5 3 Analog Inputs se dint sc ae be de ee i Ds oe we a a 3 UNIVERSAL ROBOTS Contents 33 AAA 34 SLI Welcome Screen osa a Es RA ad Ge AA 35 3 1 2 _Initialization Screen 2g ae ea ee a BER 36 3 2 On screen Editors ota a OR he eR ee EE Se ee Re 37 3 2 1 On screen Keypad 0 37 3 2 2 On screen Keyboard 0 0 37 3 2 3 On screen Expression Editor o a aaa aa a 38 3 3 ROBOLCON Ol ciclo a A AN A Aea e a 38 3 3 l Move lab 22 eG be eS Re A AAA 38 dee N O WON i ii ee oh ie we A a ee ee eee 40 3 3 3 AutoMove ID ocu coo a de e hw ae 41 3 3 4 Installation gt LOQad SQavVe o ooo eee 42 3 3 5 Installation TCP Position 0 42 3 3 6 Installation gt Mounting o e 43 3 3 7 Installation I O Setup 2 0 o 44 3 3 8 Installation Default Program 0 00 ee ee 44 3 99 OCI ta ate at GR Gy a oe Oe ee a Se ee Ae E 45 Ses ee ee ee E 45 33 TURUN TAD eon se ae Se hE he lg a we Le Be 47 SS A a oe Rone PS RS a Se a eae 47 3 4 1 Program gt New Pr
41. NIVERSAL ROBOTS The Pattern command can be used to cycle through positions in the robots program The pattern command corresponds to one position at each execu tion A pattern can be given as one of four types The first three Line Square or Box can be used for positions in a regular pattern The regular patterns are defined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box this is four of the eight corner points The programmer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge vectors together If the positions to be traversed do not fall in a regular pattern the List option can be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File Program Installation Move 1 0 Log E lt unnamed gt Command Graphics Structure Variables 9 do Destack a o StartPos_O m 9 o gt Direction Pattern o FromPos_0 o ToPos_0 A pattern is a group of posit
42. The Move command controls the robot motion through the underlying way points Waypoints have to be under a Move command The Move command defines the acceleration and the speed at which the robot is moving and also whether the motion is in joint space or linear space In joint space each joint is controlled to reach the desired end location at the same time which results in a curved path for the tool whereas in linear space the joints perform a more complicated motion to keep the tool on a straight line path Generally the robot can move faster in joint space In the program tree view the command will switch between move j and movel to display what type of motion is selected The settings of a Move command apply to the path from the robot s current position to the first waypoint under the command and from there to each of the following waypoints The Move command settings do not apply to the path going from the last waypoint under that Move command 50 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 5 Program Command Tab Fixed Waypoint File Program Installation Move 1 0 Log fal lt unnamed gt Command Graphics Structure Variables Init Variables 2 E Y Robot Program s Fixed position v 9 V Move Waypoint Rename o Waypoint Y Move o Waypoint Action Please specify the robot position for this waypoint oe Pallet se Pattern F 9 s PalletSequence o PatternPoint_O Action
43. UNIVERSAL ROBOTS UR 6 85 5 A User Manual Version 1 2 February 2010 UNIVERSAL ROBOTS 2 UR 6 85 5 A Contents 1 Getting started 7 Tig OLN OME ser ae Se ae py ee ances E Stealthy ge de sac Se ig A ak fa 7 1 1 1 The Robot tinta oa ra BE dices ope Bk wR oe eee ws dT 8 lee DOME e ic Od eS ee eee Be ee 8 VEETEE Phanaver ne Sages st 9 12 Turning On and Offf is a BR pe we dca ee ed ee oe a oe 9 1 2 1 Turning on the Controller Box 6 0 0 9 1 22 Turning on the Robot 23 s 6 66 6G ao da 9 1 2 3 Initializing the ROO koe teers gow oe a Awe we Gwe 9 1 2 4 Shutting Down the Robot 0 0 0 0 9 1 2 5 Shutting Down the Controller BOX 10 1 3 Quick start Step by Step 0 0 10 1 4 Mounting IASTUCHONS 53 os A da 12 1 4 1 The Workspace of the Robot 0 0 12 1 4 2 Mounting Me ROBOT oo 200 234 ca r 12 1 4 3 Mounting Me lool fa hb ae pta a ee ee e Ri 12 1 4 4 Mounting the Controller Box 15 1 45 Mounting the Touch Panell 0 0 0 2 15 ee ee 15 yield E 15 17 A A A 17 PA er eee 18 2 2 1 The Simplest Emergency Stop Configuration 19 STINSON 20 2 2 3 Using an External Emergency Stop Power Supply aa 20 2 24 Connecting to Other Machinery 20 a s ads dada ea ae ok 21 2 3 1 Connecting to the Pause Interface 21 SER E eee kee et is E 22 2 4 1 Digital QUI
44. a hard surface 7 Consequences due to loose bolts that holds the robot arm or tool 8 Electrical shock or fire due to malfunction of power supplies if the mains connection is not protected by a HFI or HPFI relay 9 Electrical shock due to malfunction of power supplies if the controller box is not connected to earth through mains cable However the UR 6 85 5 A is a very safe robot due to the following reasons 1 High level software generates a protective stop if the robot hits something This stop force limit is lower than 150N 2 Low level software generates a protective stop if the torque of the joints exceeds 42Nm or 10Nm for the big and small joints respectively These values are nominal and relative to the torques calculated runtime from a theoretical model of the robot 3 The software prevents program execution when the robot is mounted in angels significantly different than the specified setup 4 The control system of the robot is redundant so that one system error will stop or power off the robot 5 The weight of the robot is less than 18kg 6 The shapes of the robot are smooth which reduces pressure N m per force N 7 The joints of an unpowered robot can be turned by one person only This feature is however only for emergencies as it might reduce the lifetime of the robot The fact that the robot is very safe opens the possibility of either saving the safety guards or using safety guards with a low per
45. at connection E24 TBD uF Inductive load at connection E24 TBD UH Emergency relay ON voltage 18 24 26 V Emergency relay OFF voltage 0 1 5 V Emergency relay quiescent current 110 TBD mA Current through internal switch 1 0 A Table 2 2 Emergency stop interface data TBD To Be Determined error appears at a time Failure and abnormal behavior of relays and power supplies results in an error message in the robot log and prevents the robot from powering up It is generally important that the connections to the emergency stop inter face are separated from the normal O interface and that it is never con nected to a PLC which is not a safety PLC with the right safety level If this rule is not followed it is not possible to get a high safety level because one failure in normal I O can prevent an emergency stop signal from resulting in an emer gency stop Other rules that restrict the use of the emergency stop interface are shown in table 2 2 Note that connection E24 is sourced by the same internal 24V regulator as the normal I O and that the maximum of 800mA is for both power sources together The internal control system will power off the robot if the current exceeds its limit This will also generate an error message in the robot log The next subsec tions show some simple examples of how the emergency stop interface can be connected to other safety equipment and other safety circ
46. ble to drill holes in a metal plate No special knowledge about robots in general or Universal Robots in particular is required The rest of this chapter is an appetizer for getting started with the robot 7 UNIVERSAL ROBOTS 1 1 Introduction TRA 1 1 1 The Robot The robot itself is an arm composed of extruded aluminum tubes and joints The joints are named A Base B Shoulder C Elbow and D E F Wrist 1 2 3 The Base is where the robot is mounted and at the other end Wrist 3 the tool of the robot is attached By coordinating the motion of each of the joints the robot can move its tool around freely with the exception of the area directly above and directly below the robot and of course limited by the reach of the robot 850mm from the center of the base 1 1 2 Programs A program is a list of commands telling the robot what to do The user inter face PolyScope described later in this manual allows people with only little programming experience to program the robot For most tasks programming is done entirely using the touch panel without typing in any cryptic commands Since tool motion is such an important part of a robot program a way of teaching the robot how to move is essential In PolyScope the motions of the tool are given using a series of waypoints Each waypoint is a point in the robot s workspace Waypoints A waypoint is a point in the workspace of the robot A waypoint can be given by moving the robot
47. can be found in the Variable selector while the names of the input and output ports can be found in the Input and Output selectors Some special functions are found iN Function The expression is checked for grammatical errors when the ok button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this digital_in 1 True and analog_in 0 lt 0 5 3 3 Robot Control 3 3 1 Move Tab On this screen you can always move jog the robot directly either by translat ing rotating the robot tool or by moving robot joints individually 38 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS File O Program Installation Move O Log Move Tool Robot Configuration 898 a Flip Wrist Flip Elbow gt Flip Shoulder Move Joints sase ue ma 4 gt Home E Tool Position x 119 93 mm y 430 25 mm Y z 146 33 mm Shoulder a Elbow lt a gt Wrist 1 Cm i 46 295 Backdrive Wrist 2 m 81 385 Wrist 3 Ee gt 73 Q Simulation z Real Robot Speed V100 Cancel Y oK Robot The current position of the robot is shown Push the magnifying glass icons to zoom in out and the arrow icons to translate or rotate the view The viewing angle of the 3D drawing should match your view of the real robot
48. cannot automatically avoid collision with itself or the surrounds during this process Therefor caution should be exercised The Auto button near the top of the screen drives all joints until they are ready When released and pressed again all joints change drive direction The Manual buttons permit manual driving of each joint A more detailed description of the initialization screen is found in section s 1 2 1 2 4 Shutting Down the Robot The power to the robot can be turned off by touching the OFF button at the initialization screen Most users do not need to use this feature since the robot is 9 UR 6 85 5 A UNIVERSAL ROBOTS 1 3 Quick start Step by Step Initialize Robot O Push Auto until all lights turn green Rotate joints individually if necessary ON DOFF Robot Power Robot Auto lt UNDEFINED gt Auto lt UNDEFINED gt Base Shoulder fe ele lee elle elele Auto lt UNDEFINED gt Elbow Auto lt UNDEFINED gt ala Wrist 1 Auto lt UNDEFINED gt Wrist 2 Auto lt UNDEFINED gt o Wrist 3 Auto lt UNDEFINED gt e 6 6 6 e e 6 e Tool lt UNDEFINED gt X Exit Figure 1 1 The initialization screen automatically turned off when the controller box is shutting down A third way is of course to push an emergency stop button 1 2 5 Shutting Down the Controller Box The proper way of shutting down the controller box is fo use the on
49. ch to the previous image Action buttons A series of buttons gives the user the ability to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder e Parent Move up in the directory structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directory is the program folder e Go to program folder Go home e Actions Actions such as create directory delete file etc 3 3 11 Run Tab File Run Move I O Log UNIVERSAL ROBOTS Program ABCDE variables _ Status Stopped Time LP E This tab provides a very simple way of operating the robot with as few but tons and options as possible This can be useful combined with password pro tecting the programming part of PolyScope see section 3 5 5 to make the robot into a tool that can run exclusively pre written programs 3 4 Programming 47 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 1 Program New Program File Program Installation Move 1 0 Log New Program Load From File Load Program Use Template Pick and Place L al Empty Program A new robot program can start from either a
50. ck expression continuously Edit Expression e lt empt Comment Halt Popup Y Loop lt empt o E Script var_1 14 1 P Call SubProg_0 VES lt empt se Pattern Event cet Add Elself Remove Elself Y Thread_0 lt empt P SubProg_0 Add Else 4 D gt QO Simulati f i ae E HE Speed 0 100 Previous Next gt An if then else construction can make the robot change its behavior based on sensor inputs or variable values Use the expression editor to describe the condition under which the robot should proceed to the sub commands of this If the condition is evaluated to True the lines inside this If are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf command can be removed from the screen for that command 58 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS The open Check Expression Continuously allow the conditions of the If and ElseIf statements to be evaluated while the contained lines are ex ecuted If a expression evaluates to False while inside the body of the I f part the following ElseIf or Else statement will be reached 3 4 18 Program Command Tab Script File Program Installation Move I O Log lt unnamed gt Comman
51. ction After w selected Popup Halt Comment Folder Edit T Move Copy Paste After selected Y Move Cut Delete Suppress 4 D Q Simulation 100 m Real Robot CICLO Jra He Previous Next gt The program structure tab gives an opportunity for inserting moving copy ing and removing the various types of commands To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the selected command 3 Press the button for the command type you wish to insert For adjusting the details for the new command go to the Command tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all sub commands are also moved cloned deleted Not all commands fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseIf and Else commands are required to be after an If In general moving ElseIf Commands around can be messy Variables must be assigned values before being used 68 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 27 Program Variables Tab File Program Installation Move 1 0 lt unnamed gt Init Variables A variabl Y Robot Program ariables Clear y V Move var_1 2 o Waypoint 9 Y Move o Waypoint o Waypoint Action 9 de Pa
52. d Graphics Structure 9 V Movej es o Waypoint lel Action amp Pallet Script Code se Pattern 9 se Palletsequence o PatternPoint_O Action Wait Waypoint Y de Destack l h Pale Edit as Text SEn Edit as Expression de Dire o FromPos_0 o ToPos_0 9 de PickSequence o StackPos_0 Action Wait o Waypoint Below you can enter text that will be executed as script code by the Wait 9 V Folder empt Comment Halt Popup 9 V Loop lt empt baal E Script x 4 gt He Md gt Ph E Speed 0100 Previous Next gt This command gives access to the underlying real time script language that is executed by the robot controller It is intended for advanced users only 3 4 19 Program Command Tab Event File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Qs PickSequence aj o StackPos_0 Action Wait Event o Waypoint Wait An Event is simmilar to an Interrupt however in an event the y Y Folder execution of the main program continues while the event code is lt empt Comment being executed While the event is being executed new events will Halt have no effect Popup _ Depending on the state of the given sensor input or program 7 Y Loop variable the following lines will be executed
53. e 9 oe Pattern Box O oe me a uae e 1st_Corner_O a nS o 2nd_Corner_0 ES gt 3rd_Corner_O Sar a o 4th_Corner_0 2 q oe PalletSequence 4 il gt QO Simulati E n e E Hd gt IL M Speed 1 100 Previous Next gt 4 The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern command screen The vari able cycles through the numbers from 0 to X x Y x Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expressions 3 4 22 Program Command Tab Pallet File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables ee Destack a o StanPos_0 fel 9 Se Direction Pal let o FromPos_0 o ToPos_0 A pallet operation allows the robot to perform the same sequence of q e PickSequence motions and actions at several different positions This can be useful for o StackPos_0 palletizing or similar operations A pallet operation consist of the following Action features Wait s Waypoint e A Program Sequence to be performed at several positions v raider e The Pattern either given as a list or as a lat
54. e robot is ceiling mounted wall mounted or mounted at an angle this can be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary an gle The buttons on the lower part of the screen are used to rotate the mounting of the robot to match the actual mounting 43 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 3 7 Installation I O Setup File Program Inst allation Move I 1 0 Log TCP Position Mounting 1 0 Setup Def Program Load Save Input Names digital_in 0 digital_in 1 digital_in 2 digital_in 3 digital_in 4 digital_in 5 digital_in 6 digital_in 7 digital_in 8 digital_in 9 analog_in 0 analog_in 1 analog_in 2 analog_in 3 digital_out 0 Input Output Setup v Keep output level at program stop Output Names lt default gt digital_out 0 lt default gt digital_out 1 lt default gt digital_out 2 lt default gt digital_out 3 lt default gt digital_out 4 lt default gt digi tal_out 5 lt default gt digital_out 6 lt default gt digital_out 7 lt default gt digi tal_out 8 lt default gt digital_out 9 lt default gt analog_out 0 lt default gt analog_out 1 lt default gt lt default g
55. e robot will be at the po sition specified by the pattern at the Anchor Position Pattern Point The remaining positions will all be moved to make this fit Do not use the Move command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 3 4 23 Program Command Tab Seek A seek function uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or a Capacitive sensor This function is made for working on stacks of items with varying item thikness or where the exact positions of the items are not known or too hard to program Stacking Destacking 1 li When programming a seek operation for working on a stack one must define s the starting point d the stack direction and i the thickness of the items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also soeed and accelerations need to be given for the movement involved in the stack operation
56. edicated to the robot emergency stop functionality and some l Os allows the robot to communicate with other machines and equipment The I O at the robot tool flange can be used to control grippers and sensors placed on the tool Both the controller and the tool I O can be tested at the O tab in the graphical user interface as explained in section 3 3 2 The next three sections explain how to use the electrical I O Note that according to the IEC 61000 standard cables going from the controller box to other machinery and factory equipment may not be longer than 30m unless extended test requirements are performed Note that every minus connection OV is referred to as GND and is connected to the shield of the robot and the controller box However all mentioned GND connections are only for powering and signaling For a real ground connec tion there is an M 10 sized screw connection at the down right corner of the controller box Note that data in this chapter is only valid when the ambient temperature of the controller box and the robot is within its specified working range and that all voltage and current data is implicitly DC 17 UNIVERSAL ROBOTS 2 2 The Emergency Stop Interface E24 24V Emergency stop power supply EG OV Emergency stop GND connection SWI Emergency stop button switch input SWO Emergency stop button switch output ERI Emergency relay input ERO Emergency relay output
57. emergency interface relies on the complete understanding of the emergency circuitry and the owner of the ma chinery takes full responsibility for connecting it correctly and to the right safety level Note the number of safety components that should be used and how they must work rely on the risk assessment which is explained in section Note that it is important to make regular checks of the emergency stop func tionality to ensure that all emergency stop devices are functioning correctly The emergency stop interface is different from the normal I O because it has to comply with a certain safety level To understand the emergency stop functionality a simplified version of the internal schematics of the robot emer gency stop circuitry is shown in figure 2 1 It is important to notice that any short circuit or lost connection will lead to an emergency stop as long as only one 18 UR 6 85 5 A 2 2 The Emergency Stop Interface UNIVERSAL ROBOTS ERI A 24v Emergency Robot Y gt Y Y l Figure 2 1 Simplified schematics of the internal robot emergency stop circuitry ERI ERO Parameter Min Typ Max Unit Voltage available at connection E24 TBD 24 TBD V Current available at connection E24 800 MA Short circuit current protection 850 mA Capacitive load
58. ernal source of 24V for the emergency stop circuitry How to connect an external source is shown above 2 2 4 Connecting to Other Machinery When the robot is used together with other electro mechanical machinery it is often required to set up a common emergency circuit This ensures that if a dangerous situation arises the operator does not need to think about which buttons to use It is also often preferable for every part of a sub function in a product line to be synchronized since a stop in only one part of the product line can lead to a dangerous situation A UR robot uses simple 24V signals for emergency signaling as does most industrial machinery It is therefore possible to connect the controller box to most industrial machinery without using any special and expensive equipment such as safety approved relays and PLCs The principle is to choose a common 24V voltage source and connect all emergency stop button in series and then all the relays of the machinery An example with two UR robots is shown below Robot 1 Robot 2 E24 EG ERI RI E E24 EG ERI ERI SWI fSWI SWO SWO ERO ERO E SWI SWI Ewo Wo EROF ERO Remember to check that all emergency stop buttons are rated for the total current consumption of all the connected emergency stop relays 20 UR 6 85 5 A 2 3 The Pause Interface UNIVERSAL ROBOTS 2 3 The Pause Interface
59. es from Emergency Stopped to Robot Power Off Touch the on button on the touch screen The robot now makes a noise and moves a little while unlocking the breaks Touch the blue arrows and move the joints around until every light at the right side of the screen turns green Be careful not to drive the robot into itself or anything else All joints are now oK Touch the exit button bringing you the Welcome screen Touch the PROGRAM Robot button and select Empty Program Touch the Next button bottom right so that the lt empty gt line is selected in the tree structure on the left side of the screen Go to the Structure tab Touch the Move button Go to the Command tab Press the Next button to go to the Waypoint settings Press the Set this waypoint button next to the picture On the Move screen move the robot by pressing the various blue arrows or move the robot by holding the Back drive button while pulling the robot arm Press OK Press Add waypoint before Press the Set this waypoint button next to the picture On the Move screen move the robot by pressing the various blue arrows or move the robot by holding the Back drive button while pulling the robot arm Press OK Your program is ready The robot will move between the two points when you press the Play symbol Stand clear hold on to the emergency stop button and press Play Congratulations
60. formance level As a help in convincing costumers and local authorities the UR 6 85 5 A robot has been tested by the Danish Technological Institute which is a Notified Body under the machinery directive in Denmark The test concludes that the robot complies with article 5 10 5 of the EN ISO 10218 1 2006 This standard is harmonized under the MD and it specifically states that a robot can operate as a collaborative robot i e without safety guards between the robot and the operaton if it is in compliance with the article 5 10 5 The risk assessment still needs to conclude that the overall robot installation is safe enough of course A copy of the test report can be requested from Universal Robots 76 UR 6 85 5 A Chapter 5 Warranties and Declarations 5 1 Warranty 5 1 1 Product Warranty Without prejudice to any claim the user customer may have in relation to the dealer or retailer the customer shall be granted a manufacturer s Warranty un der the conditions set out below In the case of new devices and their components exhibiting defects result ing from manufacturing and or material faults within 12 months of entry into service maximum of 15 months from shipment Universal Robots shall provide the necessary spare parts while the user customer shall provide working hours to replace the spare parts either replace the part with another part reflecting the current state of the art or repair the said part This Warranty shall be in
61. h screen read section 8 5 6 O PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS O SETUP Robot About SHUT DOWN Robot The picture above shows the Welcome Screen The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen against the screen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens File e Program Installation Move 1 O Log a lt unnamed gt Command Graphics Structure Y Robot Program la In this example the Program tab is selected at the top level and under that the Structure tab is selected The Program tab holds information related to the currently loaded program If the Move tab is selected the screen changes to the Move screen from where the robot can be moved Similarly by selecting the 1 0 tab the current state of the electrical I O can be monitored and changed It is possible to connect a mouse and a keyboard to the controller box how ever this is not required Whenever a text or number input is needed an on screen keypad or keyboard is provided rey aoe Edit Expression The on screen keypad keyboard and expression editor can be reached using the buttons shown above The various screens of PolyScope are described in the following sections 34 UR 6 85 5 A
62. hen using 12V since an error made by the programmer can cause a voltage change to 24V which might damage the equipment and even cause a fire The specifications on the power supply are shown in Table 2 10 The internal control system will generate an error to the robot log if the current exceeds its limit The different Os at the tool is described in the following three subsections 2 5 1 Digital Outputs The digital outputs are implemented so that they can only sink to GND 0V and not source current When a digital output is activated the corresponding con nection is driven to GND and when it is deactivated the corresponding con nection is open open collector open drain The primary difference between the digital outputs inside the controller box and those in the tool is the reduced current due to the small connector Table 2 1 1 lists the specified data Note that the digital outputs in the tool are not current limited and overriding the specified data can cause permanent damage To illustrate clearly how easy it is to use digital outputs a simple example is shown 29 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Parameter Min Typ Max Unit Voltage when open 0 5 26 V Voltage when sinking 1A 0 05 020 V Current when sinking 0 1 A Current through GND A Switch time 1000 us Capacitive load TBD uF Inductive load TBD UH Table 2 11 Data
63. installation covers aspects of how the robot is placed in its working envi ronment both mechanical mounting of the robot and electrical connections to other equipment These settings can be set using the various screens under the Installation tab Itis possible to have more than one installation file for the robot Programs created will use the active installation and will load this in stallation automatically when used Any changes to an installation needs to be saved to be preserved after power down Saving an installation can be done either by pressing the Save button or by saving a program using the installation 3 3 5 Installation TCP Position File Program Installation Move 1 0 Log TCP Position Mounting _ Setup for the Tool Center Point 1 O Setup Def Program Setting the Tool Center Point __Load Save TCP Coordinates X 0 0 mm 3 X Y 0 0 mm 3 s Z 0 0 mmi E ZF ME gt The payload at the TCP is 0 0 kg Fit program to new TCP _ A2 Recalculate robot motions to fit new tool offsets Change motions Redraw graphics to illustrate the new tool offsets Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a characteristic point on the robot s tool When the robot moves linearly it is this 42 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS point that moves in a st
64. ion Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move o Waypoint e Comment o Waypoint Action 9 do Pallet se Pattern 9 PalletSequence PatternPoint_O Action Wait o Waypoint 9 de Destack o StanPos_0 9 o gt Direction o FromPos_0 Please enter comment o ToPos_0 9 de PickSequence o StackPos_0 Action Wait o Waypoint Wait V Folder lt empt Comment Halt J Popup 4 gt O Simulati ious SETE irs P E Speed 1 100 Previous Next gt Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution 55 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 13 Program Command Tab Folder File Program Installation Move I O Log a lt unnamed gt Command Graphics Structure Y Robot Program 9 V Move o Waypoint 9 V Move Folder o Waypoint Action A folder is simply a collection of program lines 9 Se Pallet ss Pattern Please enter text to be displayed in the program tree 9 oe PalletSequence o PatternPoint_O Action Wait o Waypoint g o gt Destack o StanPos_0 9 e Direction o FromPos_0 o ToPos_0 9d PickSequence o StackPos_0 Action Wait o Waypoint Folder
65. ional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack Pick Place Sequence Like for the Pallet operation 3 4 22 a special program sequence is performed at each stack position 65 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 24 Program Command Tab Suppress Suppressed program lines are simply skipped when the program is run A sup pressed line can be unsuppressed again at a later time This is a quick way to make changes to a program without destroying the original contents 66 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 25 Program Graphics Tab File Program Installation Move 1 0 Log El lt unnamed gt Command Graphics Structure Variables Init Variables a Y Robot Program aage a 4 4 9 Y Move Of o Waypoint eae 9 V Move v o Waypoint o Waypoint ta Action 5 9 amp Pallet a se Pattern 9 s PalletSequence o PatternPoint_O Action Wait o Waypoint oe Destack o StanPos_0 9 s Direction o FromPos_0 o ToPos_0 9 s PickSequence o StackPos_0 Action Wait o Waypoint Wait 9 V Folder Comment izi 4 i gt Y Q Simulation
66. ions to be cycled through Si ce Patterns can be used for making much more palletizing etc Positions on a line Line lt empt tal 7 mz e S Comment Positions in a square Square Shy n Halt Leeks AS Positions in a box Box hese ey Meche var_l 14 1 P Call SubProg_0 i iti vi A list of positions List so Pattern l Event Y Thread_0 P subProg_o El 4 gt Q Simulation r o i OReal Robot red gt Lal E Speed 100 Previous Next gt A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers A specific position in the pattern is calculated by simply adding the interval vectors proportionally 61 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming File O Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables eo Destack a o StanPos_0 9 ee Direction o FromPos_0 4th_Cor o ToPos_0 o gt PickSequence StackPos_O Action Wait o Waypoint Wait V Folder lt empt Comment Halt Popup V Loop var_l 1 1 P Call SubProg_0 Wig Pe SG 4 Vif i PS Tass 1 a 9 Pallet LJ rg Sie a o
67. kPos_0 Action Wait o Waypoint Wait 9 V Folder lt empt Comment Halt o PatternPoint_O a v 4 Ill Command Graphics Structure Variables A Relative position v Waypoint Rename Relative Motion given by the difference between from and to positions From point To point a n _ Distance 0 0mm Set this point Set this point Angle 0 0 Show advanced options C Stop at this point Blend with radius Remove this waypoint Add waypoint before Add waypoint after Q Simulation Real Robot aa gt CI E Speed 100 Previous Next gt A waypoint with the position given relative to the robot s previous position such as two centimeters to the left The relative position is defined as the 52 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS difference between the two given positions left to right Note that repeated relative positions can move the robot out of its workspace 3 4 7 Program Command Tab Variable Waypoint File O Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Init Variables Y Robot Program z 9 V Movej Waypoint Rename Waypoint 9 V Move o Waypoint Move the robot to a variable position o Waypoint Action Use variable y 9 eo Pallet se Pattern 9 s PalletSequence o Pat
68. llet se Pattern 9 e PalletSequence PatternPoint_O Action Wait o Waypoint 9 do Destack StanPos_0 9 e Direction o FromPos_0 o ToPos_0 9 de PickSequence o StackPos_0 Action Wait o Waypoint Log Command Graphics Structure Variables IIL Wait 9 Y Folder lt empt Comment 4 i v Q Simulati k Orea Robot Kd gt j speed 100 Previous Next gt The Variables tab shows the live values of the variables in the running pro gram and keeps a list of variables and values between program runs The vari ables tab appears only when it has information to display 3 4 28 Program Command Tab Variables Initialization File Program Installation Move I O Log lt unnamed gt Init Variables Y Robot Program A a V Move Initial Variable Values o Waypoint V Move o Waypoint cnt_1 0 Action 9d Pallet cnt_2 0 amp Pattern interpolate_1 0 0 9 ee PalletSequence var_1 has no specific initial value o PatternPoint_O Action Wait o Waypoint 9 o gt Destack o StanPos_0 9 Se Direction o FromPos_O o ToPos_0 9 s PickSequence o StackPos_0 Variable Expression Action Wait y o Waypoint Command Graphics Structure Variables il Wait 9 V Folder
69. load There are two versions of this screen one that is to be used when you just want to load a program and execute it and one that is used when you want to actually select and edit a files program The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder The user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders under the programs folder 45 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control Screen layout Load Program O A i i Current Directory home esben programs M t 18 s gt T harmonicdrive 0000000 urp Ed new3 _ 01 urp ES newdir2 02 urp ES newdir3 04 urp EJ sand O_diff urp EJ test 0_same urp 0 2 urp Oe urp 3 0 ur urp Oee urp _ O urp l urp _ 000 urp 123 urp 0000 urp 1_sm urp a il Filename Filter Universal Robots Program files z Open Cancel This image shows the actual load screen It consists of the following important areas and buttons Path history The path history shows a list of the paths leading up to the present location This means thot all parent directories up t
70. mulati fe n e ical Robot Kd PM Speed 100 Previous Next gt The popup is a message that appears on the screen when the program reaches this command The style of the message can be selected and the 54 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the program If the Halt program execution item is selected the robot program halts at this popup 3 4 11 Program Command Tab Halt File Program Installation Move I O Log hal lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move o Waypoint H alt 9 V Move o Waypoint Action 9 o Pallet se Pattern 9d PalletSequence o PatternPoint_O Action r Wait o Waypoint 9 de Destack o StanPos_0 9 o gt Direction o FromPos_0 o ToPos_0 q s PickSequence o StackPos_0 Action Wait o Waypoint Program execution stops at this point Wait 9 Y Folder lt empt Comment Halt Popup 4 gt gt E kee gt a Speed 100 Previous Next The program execution stops at this point 3 4 12 Program Command Tab Comment File Program Installat
71. o disturbing signals Using the Analog Outputs Non Differential Signal av pay Analog controled actuator 24V 24V i AOL GND GND GND GND If the controlled equipment does not take a differential input an alternative solution can be made as shown above This solution is not very good in terms of noise and can easily pick up disturbing signals from other machinery Care must be taken when the wiring is done and it must be kept in mind that disturbing signals induced into analog outputs may also be present on other analog O 26 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Common mode input voltage 90 90 V Differential mode input voltage 120 120 V Differential input resistance 220 kohm Common mode input resistance 55 kohm Common mode rejection ratio 75 dB Offset error Range 0 5 TBD TBD mV Offset error O Range O 10 TBD TBD mV Offset error O Range 5 5 TBD TBD mV Offset error O Range 10 10 TBD TBD mV Total error Range 0 5 TBD TBD mV Total error Range O 10 TBD TBD mV Total error Range 5 5 TBD TBD mV Total error Range 10 10 TBD TBD mV Table 2 8 Data specification of analog inputs
72. o the root of the computer are shown Here you must notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that direc tory and displays it in the file selection areal3 3 10 File selection area In this area of the dialog the contents of the actual area is present It gives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name In the case that the user double clicks on a directory the dialog descends into this folder and presents its contents File filter By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Files the file selection area will display the latest 10 saved versions of each program where o1d0 is the newest and old9 is the oldest File field Here the currently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Open button will open the currently selected file and return to the previous screen 46 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to swit
73. og inputs because there will be a voltage drop along the GND wires and inside connectors Note that a connection between the tool power supply and the analog inputs will permanently damage the O functionality if the analog inputs are set in current mode To make it clear how easy it is to use digital inputs some simple examples are shown Using Analog Inputs Non differential POWER GRAY SENSOR Al8 WHITE GND RED The simplest way to use analog inputs The output of the sensor can be either current or voltage as long as the input mode of that analog input is set to the same on the I O tab see section 3 3 2 Remember to check that a sensor with voltage output can drive the internal resistance of the tool or the measurement might be invalid 31 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Using Analog Inputs Differential POWER GRAY SENSOR Using sensors with differential outputs is also straightforward Simply connect the negative output part to GND OV with a terminal strip and it will work in the same way as a non differential sensor 32 UR 6 85 5 A Chapter 3 PolyScope Software UNIVERSAL ROBOTS 3 1 Introduction 3 1 Introduction PolyScope is the graphical user interface GUI which lets you operate the robot run existing robot programs or easily create new ones PolyScope runs on the touch sensitive screen attached to the control box To calibrate the touc
74. ogram aoaaa e 48 3 4 2 Program labj 000 da o a A A 48 Renee ee ere 49 A ou by heated 50 3 4 5 Program gt Command Tab Fixed Waypoint 51 3 4 6 Program Command Tab Relative Waypoint 52 3 4 7 Program Command Tab Variable Waypoint 53 3 4 8 Program Command Tab Wait 53 age ahah toad a i 54 3 4 10 Program Command Tab Popup 54 3 4 11 Program Command Tab Half 55 3 4 12 Program Command Tab Comment 55 3 4 13 Program Command Tab Folder 56 3 4 14 Program Command Tab L00pP 56 Egea ye 57 3 4 16 Program Command Tab Assignment 58 3 4 17 Program Command lab f 58 3 4 18 Program Command Tab Script oaa aa aa 59 3 4 19 Program Command Tab Event 0 0 59 3 4 20 Program Command Tab Ihread 60 eee ee 60 3 4 22 Program Command Tab Pallet 62 3 4 23 Program Command lab Seek 63 3 4 24 Program Command Tab Suppress 66 3 4 25 Program Graphics TOD 3 6a se ee ewe amp Soe we ee 67 3 4 26 Program Structure lab 1 0 68 3 4 27 Program gt Variables Tab 0 0 0 0 ee ee 69 E 69 A AAA IIA 70 AS A II III 70 AE eee h 71 3 5 3 setup Screen Language Select 71 4 UR 6 85 5 A
75. ontinues to improve reliability and performance of its prod ucts and therefore reserves the right to upgrade the right to upgrade the prod uct without prior warning Universal Robots taes every care that the contents of this manual are precise and correct but takes no responsibility for any errors or 77 UNIVERSAL ROBOTS 5 2 Declaration of Incorporation missing information 5 2 Declaration of Incorporation According to the machinery directive 2006 42 EC the robot is considered a partly completed machine The following subsections corresponds to and are in accordance with annex ll of this directive 5 2 1 Product manufacturer Name Universal Robots ApS Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8989 E mail address sales universal robots com International VAT number DK29138060 5 2 2 Person Authorised to Compile the Technical Documentation Name Lasse Kieffer Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8971 E mail address kieffer universal robots com 5 2 3 Description and Identification of Product The robot is intended for simple and safe handling tasks such as pick and place machine loading unloading assembly and palletizing Generic denomination UR 6 85 5 A Function General purpose industrial robot Model UR 6 85 5 A Serial number of robot arm Serial number of control box
76. orm a safety evalua tion 1 2 Turning On and Off How to turn the different parts of the robot system on and off is described in the following subsections 1 2 1 Turning on the Controller Box The controller box is turned on by pressing the On button at the front side of the controller box When the controller box is turned on a lot of text will appear on the screen After about 30 seconds the Universal Robot s Logo will appear with the text Loading After around 70 seconds a few buttons appear on the screen and a popup will force the user to go to the initialization screen 1 2 2 Turning on the Robot The robot can be turned on if the controller box is turned on and if all emer gency stop buttons are not activated Turning the robot on is done at the initial ization screen by touching the ON button at the screen When it is turned on a noise can be heard as the brakes unlock After the robot has been turned on it needs to be initialized before it can begin to perform work 1 2 3 Initializing the Robot After the robot is powered up each of the robot s joints needs to find its ex act position by moving to a home position Each large joint has around 20 home positions evenly distributed over one joint revolution The small joints have around 10 The Initialization screen shown in figure T 1 gives access to manual and semi automatic driving of the robot s joints to move them to a home po sition The robot
77. ositions the robot needs to move each joint Status LEDs The status LEDs give an indication of the joints running state e A bright red LED tells that the robot is currently in a stopped state where the reasons can be several e A bright yellow LED indicates that the joint is running but dosn t know its presents position and needs homing e Finally a green LED indicates that the joint is running correctly and is ready to execute All the LEDs have to be green in order for the robot to operate normally Auto movement Auto Buttons Normally it is always advisable to use the auto buttons to move the individual joints until they reach a known state In order to operate the button you have to press on the Auto button and keep it pressed The auto buttons can be pressed individually for each joint or for the whole robot Great care should be taken if the robot is touching an obstacle or table since driving the robot into the obstacle might damage a joint gearbox Moving directly Move Buttons In the case where a joint is in a position where there is a major risk that uncon trolled motion would cause damage to the robot or its surroundings The operator can choose to home the robot manually for each joint Each joint needs to move until the status LED changes to green see section 3 1 2 36 UR 6 85 5 A 3 2 On screen Editors UNIVERSAL ROBOTS 3 2 On screen Editors 3 2 1 On screen Keypad
78. raight line It is also the motion of the TCP that is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics The two buttons on the bottom of the screen are relevant when the TCP is changed e Change Motions recalculates all positions in the robot program to fit the new TCP This is relevant when the shape or size of the tools has been changed e Change Graphics redraws the graphics of the program to fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool 3 3 6 Installation Mounting File Program Installation Move 1 0 Log TCP Position Mounting _ Specify Robot Mount and Angle __ 1 0 Setup Def Program Toad eave T f Tilt 4 45 000 0 45 Rotate Robot Base Mounting 4 45 4 000 0 45 Here the mounting of the robot can be specified This serves two purposes 1 Making the robot look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot smooth and precise motions and to make the robot hold itself when backdriven For this reason it is important that the mounting of the robot is set correctly The default is that the robot is mounted on a flat table or floor in which case no change is needed on this screen However if th
79. rection Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robots current position Direction File Program Installation Move 1 0 Log lt unnamed gt __ Command Graphics Structure Y Robot Program 9 Y Move Waypoint Di rection Ww A direction is given by the line between the TCP position of two ee Pattern n AN Al 9 Palletsequence Stop after 500 0 mm H o PatternPoint_O f A A Action L Stop when Edit Expression Wait a o Waypoint E 9 eo Destack o StanPos_0 de Direction de PickSequence Wait 9 Y Folder Comment Halt Shared Parameters Popup vy PA Tool Speed 10 0 mm s Esait o Tool Acceleration 1200 0 mm s P Call a Reset to defaults A A d 4l O si i oon me WMA eiii Hd gt Pp Speed 100 Previous Next gt The direction is given by two positions and is calculated as the position differ ence from the first positions TCP to the second positions TCP Note A direction does not consider the orientations of the points Next Stacking Position Expression The robot moves along the direction vector while continuously evaluating whether the next stack position has been reached When the expression is evaluated to True the special sequence is executed BeforeStart The opt
80. red by one primary directive and because the main hazards of the robot are due to mechanical movement and not electrical shock it is covered by the machinery directive However the robot design meets all rele vant requirements to electrical construction described in the low voltage direc tive 2006 95 EC Also note that the WEEE directive 2002 96 EC is listed because of the crossed out wheeled bin symbol on the robot and the control box Universal Robots reg isters all robot sales within Denmark to the national WEEE register of Denmark Every distributor outside Denmark and within the EU must make their own regis tration to the WEEE register of the country in which their company is based 5 2 5 National Authority Contact Information Authorised person Lasse Kieffer 45 8993 8971 kieffer universal robots com CTO Esben H stergaard 45 8993 8974 esben universal robots com CEO Enrico Krog Iversen 45 8993 8973 eki universal robots com 79 UR 6 85 5 A UNIVERSAL ROBOTS 5 2 Declaration of Incorporation 5 2 6 Important Notice The robot may not be put into service until the machinery into which it is to be incorporated has been declared to be in conformity with the provisions of the Machinery Directive 2006 42 EC and with national implementing legislation 5 2 7 Place and Date of the Declaration Place Universal Robots ApS Svendborgvej 102 5260 Odense S Denmark Date 29 December 2009
81. rogram commands Depending on the selection the underlying program commands are either looped infinitely a certain number of times or as long as the given condition is true When looping a certain number of times a dedicated loop variable called 1oop 1 in the screen shot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 56 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather that just after each iteration 3 4 15 Program Command Tab SubProgram File O Program Installation Move I O Log a lt unnamed gt _ Command Graphics Structure Variables ee Destack a o StanPos_0 9d Direction Su bProg_0 Rename o FromPos_0 o ToPos_0 A subprogram can either point to a file on disk or can be contained 9 PickSequence o StackPos_0 SubProgram file dl lt No File Selected gt Wait nae Waypoint Load File Wait 9 V Folder lt empt Comment Halt Popup 9 V Loop lt empt B script var_1 14 1 P Call SubProg_0 9 Vit lt empt en Save SubProgram Clear SubProgram S seip a Y Thread_0 O Keep SubProgram File Updated with this Program empt P suberog 9
82. rogram in a simulation or running it on the real robot When running in simulation the robot does not move and thus cannot damage itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot will do While the program is being written the resulting motion of the robot is illus trated using a 3D drawing on the Graphics tab described in section 3 4 25 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green 3 4 3 Program Command Tab Empty File Program Installation Move 1 0 Log B lt unnamed gt Command Graphics Structure Y Robot Program a lt empty Insert program lines here In the Structure tab you will find various program statements that can Structure R Dl 5 _ Q Simulation 1 A E Real Robot ped P E Speed 100 Previous Next gt Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A program cannot run before alll lines are specified and defined 49 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Cruise Deceleration Speed Acceleration
83. t Rename to lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt lt default gt Input and output signals can be given names This can make it easier to remember what the signal does when working with the robot Select an I O by clicking on it and set the name using the on screen keyboard You can set the name back by setting it fo only blank characters When a digital output is selected the check box in the bottom of the screen is enabled This check box set whether the output signal level is kept at pro gram stop or whether it is set to low at program stop This can be useful to tell machines feeding the robot that the program has stopped 3 3 8 Installation Default Program File Inst Program allation Move 0 Log TCP Position Mounting 1 0 Setup Def Program Load Save Set Default Program The Default program is loaded automatically when the robot is turned on C Automatically Load Default Program Default Program File lt No Program Selected gt Select Default Program O Automatically start default program when lt Di Input gt vw HI The default program will be loaded when the control box is powered up 44 UR 6 85 5 A
84. t Input voltage in voltage mode O05 26 V Input voltage in current mode O05 5 0 V Input Current in current mode 2 5 25 mA Input resistance range OV to 5V 29 kohm Input resistance range OV to 10V 15 kohm Input resistance Y range AmA to 20mA 200 ohm Offset error Range O 5 TBD TBD mV Offset error O Range O 10 TBD TBD mV Offset error O Range 4mA to 20mA TBD TBD mA Total error Range 0 5 TBD TBD mV Total error Range O 10 TBD TBD mV Total error Range 4mA to 20mA TBD TBD mA Table 2 13 Data specification of analog inputs TBD To Be Determined time of the two conducting surfaces However in most programs it will not cause problems 2 5 3 Analog Inputs The analog inputs at the tool are very different from those inside the controller box The first ting to notice is that they are non differential which is a drawback compared to the analog inputs at the controller I O The second thing to no tice is that the tool analog inputs have current mode functionality which is an advantage compared with the controller I O The analog inputs can be set to different input ranges which are implemented in different ways and therefore can have different offset and gain errors The data specification of the analog inputs is shown in Table 2 11 An important thing to realize is that any current change in the common GND connection can result a disturbing signal in the anal
85. ternPoint_O Action Wait o Waypoint 9 oe Destack o StartPos_O 9 ee Direction FromPos_0 e ToPos_0 A 9 de PickSequence Oo Stop at this point e StackPos_0 Blend with radius Action Wait mm o Waypoint Wait 9 Y Folder Variable position v Show advanced options lt empt Comment gt Remove this waypoint Add waypoint before Add waypoint after 4 I Q Simulation Real Robot o gt PE Speed 100 Previous Next gt A waypoint with the position given by a variable in this case calculated pos The variable can be a list of joint angles in radians such as given by the assign ment var 0 1 0 4 0 2 2 0 2 1 3 14 Or a pose such as var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as an axis angle given by the vector mry iz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate 3 4 8 Program Command Tab Wait File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move e o Waypoint Wait V Move o Waypoint Please select what should trigger the robots next action Action 9 oe Pallet G No Wait se
86. the robot s base If very accurate repositioning of the robot is desired two 8 holes are provided for use with a pin Figure T 3 shows where to drill holes and mount the screws 1 4 3 Mounting the Tool The robot tool flange has four holes for attaching a tool to the robot A drawing of the tool flange is shown in figure 1 4 12 UR 6 85 5 A 1 4 Mounting Instructions UNIVERSAL ROBOTS Surface on which the robot is fitted It should be flat within 0 05mm 4 SI LO Outer diameter ofrobot ld De mounting flange pe an gt D132 0 5 El 149 al Figure 1 3 Holes for mounting the robot scale 1 1 Use 4 M8 bolts All measure ments are in mm 13 UR 6 85 5 A a UNIVERSAL ROBOTS 1 4 Mounting Instructions sl SECTION B B SCALE 1 r mates with Lumberg RKMV 8 354 connector cto 8 position tool conne 0 P63 0 046 h8 50 Figure 1 4 The tool output flange ISO 9409 1 50 4 M6 This is where the tool is mounted at the tip of the robot All measures are in mm 14 UR 6 85 5 A 1 4 Mounting Instructions UNIVERSAL ROBOTS Input 100 120VAC Min 16A current rating Input 200 240VAC Min 8A current rating Frequency 50 60Hz Stand by Power SW Typical On Power 200W Table 1 1 Specifications for mains connection 1
87. tice Lame e An optional before start sequence that will be performed before the Comment first position Halt e An optional after end sequence that will be performed after the last Popup position 9 V Loop lt empt B script var_l 1 1 P Call SubProg_0 9 Vit oe Pallet oe Pattern 9 oe PalletSequence o PatternPoint a SA Optional program sequences Wait C Special program sequence before the first point o W t lv 4 Tl f 5 Special program sequence after the last point Q Simulation Fr r Robot Hd r gt P E Speed 1100 Previous Next A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in section 3 4 21 At each of the positions in the pattern the sequence of motions will be run relative to the pattern position 62 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a PalletSequence for picking up placing at each single point The sequence describes what should be done at each pattern position 3 Use the selector on the sequence command screen to define which of the waypoints in the sequence should correspond to the pattern positions Pallet Sequence Anchorable Sequence In an Pallet Sequence node the motions of the robot are relative to the pallet position The behavior of a sequence is such that th
88. tion The Auto button drives all joints until they are ok The joints change drive direction when the button is released and pressed again 3 5 3 Setup Screen Language Select Select the language to be used for the PolyScope software and for the help function The GUI needs to restart for changes to take effect 3 5 4 Setup Screen Update SETUP Robot O Please select INITIALIZE Robot LANGUAGE Select UPDATE Robot Set PASSWORD CALIBRATE Screen Setup NETWORK Search Click Update robot software Search to download a list of possible updates for Description 71 UR 6 85 5 A UNIVERSAL ROBOTS 3 5 Setup Provided the robot is attached to the Internet new software can be down loaded 3 5 5 Setup Screen gt Password SETUP Robot O Please select Change Password INITIALIZE Robot Enter old password E LANGUAGE Select Enter new password Re enter new password UPDATE Robot Set password Set PASSWORD In order to protect users from CALIBRATE Screen Setup NETWORK BACK The programming part of the software can be locked using a password When locked programs can be loaded and run without the password but a password is required to create or change programs 3 5 6 Setup Screen Calibrate Touch Screen x Point very precisely in the center of the blue cross C
89. to a certain position or can be calculated by software The robot performs a task by moving through a sequence of waypoints Various options regarding how the robot moves between the waypoints can be given in the program Defining Waypoints Moving the Robot The easiest way to define a waypoint is to move the robot to the desired position This can be done in two ways 1 By simply pulling the robot while pressing the Back drive button on the touch screen see 3 3 1 2 By using the touch screen to drive the tool linearly or to drive each joint individually Blends Per default the robot stops at each waypoint By giving the robot free dom to decide how to move near the waypoint it is possible to drive through the desired path faster without stopping This freedom is given by setting a blend radius for the waypoint which means that once the robot comes within a cer tain distance of the waypoint the robot can decide to deviate from the path A blend radius of 5 10 cm usually gives good results 8 UR 6 85 5 A 1 2 Turning On and Off UNIVERSAL ROBOTS Features Besides moving through waypoints the program can send I O signals to other machines at certain points in the robot s path and perform commands like if then and loop based on variables and I O signals 1 1 3 Safety Evaluation The robot is a machine and as such a safety evaluation is required for each installation of the robot Chapter 4 1 describes how to perf
90. tor open drain The advantage of this imple mentation is that it is possible to use any external power supply instead of the internal 24V power supply as long as its voltage is not higher than the specified limit The digital outputs are limited by the data specified in table 2 5 Note that the digital outputs are not current limited and overriding the specified data can cause permanent damage To illustrate clearly how to use the digital output ports some simple examples are shown 23 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O Parameter Min Typ Max Unit Voltage when open 0 5 26 V Voltage when sinking 1A 005 020 V Current when sinking 0 2 A Current through one screw terminal 10 A Switch time for DOO to DOS 500 uS Switch time for DO6 to DO7 10 uS Capacitive load TBD uF Inductive load TBD UH Table 2 5 Data specification of digital outputs TBD To Be Determined Load Controlled by Digital Output 24v Pav 24v 24v 24V 24V 24V al LOAD DO0 DO1 DO2 DO3 DO4 DO5 DO6 DO7 This example illustrates how to turn on a load when using the internal 24V power supply Remember that there are 24V between the 24V connection and the shield ground even when the load is turned off Load Controlled by
91. ttern Box o 1st_Corner o 2nd_Corner o 3rd_Corner e 4th_Corner se PalletSequence o PatternPoint Action Wait o Waypoint Event lt empt Y Thread_0 E v Loops Forever 4 I ci Md La M Speed 100 Previous Next gt A thread is a parralel process to the robot program A thread can be used to control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals 3 4 21 Program Command Tab Pattern File Program Installation Move I O Log a lt unnamed gt _ Command Graphics Structure Y Robot Program aj 9 V Move E e Waypoint_0 Grid Pattern o Waypoint_1 o Waypoint_2 s sal lt Pattern A pattern is a group of positions to be cycled through o Waypoint Patterns can be used for making much more palletizing etc oe Pallet oo Pattern T q amp PalletSequence Pa E z me o Waypoint Positions on a line Line f o PatternPoint_O Action Wait ey A az 0 Waypoint Positions in a square Square O f Positions in a box Box aN A list of positions List A CI Q Simulation Speed 1100 Previous Next Real Robot As e 2 60 UR 6 85 5 A 3 4 Programming U
92. uits 2 2 1 The Simplest Emergency Stop Configuration E24 EG ERI ERI SWI Sw JBWOMWO ERO ERO The simplest configuration is to use the internal emergency stop button as the only component to generate an emergency stop This is done with the configuration shown above This configuration is the default when the robot leaves the factory and thereby the robot is ready to operate However the emergency configuration should be changed if required by the risk assessment 19 UR 6 85 5 A UNIVERSAL ROBOTS 2 2 The Emergency Stop Interface 2 2 2 Connecting an External Emergency Stop Button In almost every robot application it is required to connect one or more exter nal emergency stop buttons Doing so is simple and easy An example of how to connect one extra button is shown above Remember that only approved emergency stop buttons with double switches are good enough It is also possi ble to connect light curtains and door switches etc as long as the equipment is approved for emergency stop with the right safety level 2 2 3 Using an External Emergency Stop Power Supply E24 EG ERI ERI I SWI SWI wowo ERO ERO If the robot is part of a bigger system it is sometimes preferred or required to use an ext
93. valid if the device defect is attributable to improper treatment and or failure to comply with information contained in the user guides This Warranty shall not apply to or extend to services performed by the authorized dealer or the customer themselves e g installation configuration software downloads The purchase receipt together with the date of purchase shall be required as evi dence for invoking the Warranty Claims under the Warranty must be submitted within two months of the Warranty default becoming evident Ownership of de vices or components replaced by and returned to Universal Robots shall vest in Universal Robots Any other claims resulting out of or in connection with the device shall be excluded from this Warranty Nothing in this Warranty shall at tempt to limit or exclude a Customer s Statutory Rights nor the manufacturer s liability for death or personal injury resulting from its negligence The duration of the Warranty shall not be extended by services rendered under the terms of the Warranty Insofar as no Warranty default exists Universal Robots reserves the right to charge the customer for replacement or repair The above provisions do not imply a change in the burden of proof to the detriment of the customer In case of a device exhibiting defects Universal Robots shall not cover any consequential damage or loss such as loss of production or damage to other production equipment 5 1 2 Disclaimer Universal Robots c
94. x Y Show SubProgram Tree 4 gt E ke gt gt M Speed 0 100 Previous Next gt A Sub Program can hold program parts that are needed several places A Sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Program Command Tab Call SubProgram File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Destak a o StanPos_0 fie 9 s Direction i Frompusi Call Subroutine o ToPos_0 q amp PickSequence Choose which subroutine to call at this point at the program execution o StackPos_0 Action SubProg_0 ly Wait o Waypoint Wait 9 V Folder lt empt Comment Halt Popup Y Loop empt E Script var_1 14 1 P Call SubProg_0 9 Vit empt se Pattern Event me COmOt gt p Y Thread_0 lt empt m P SubProg_0 y 4 D gt es kee gt Cc C Speed 0100 Previous Next gt A call to a sub program will run the program lines in the sub program and then return to the following line 57 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 16 Program Command Tab Assignment File O Program Installation Move I O Log

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