Home

User Manual UR10/CB3

1. Event X ji S Q Simulation gt Speed 00 Previous Next gt o Real Robot An event 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 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 level CB3 Il 64 Version 3 0 rev 15 13 22 Command Thread UNIVERSAL ROBOTS 13 22 Command Thread 9 File 154236 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Waypoint a Wait Thread V Folder lt A thread is a parallel program that runs along with the main program A thread can perform 1 0 wait for signals and set variables Useful for controlling other machines while the robot is running Bl Script var 1 2 for P Call SubProgram 1 9 Vi Pallet s Pattern lt PalletSequence 9 Approach 9 PatternPoing Set m Wait 9 Exit P SubProgram 1 e empty Event v Thread 1 v v Loops Forever 4 I lt gt Track progra
2. A point on the robot path Waypoints are the most central part of a robot program telling the robot arm where to be A fixed position waypoint is given by physically Version 3 0 II 47 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 7 Setting the waypoint moving the robot arm to the position 13 7 Setting the waypoint Press this button to enter the Move screen where you can specify the robot arm s po sition for this waypoint If the waypoint is placed under a Move command in linear space 1 or moveP there need to be a valid feature selected at that Move com mand in order for this button to be pressable Waypoint names Waypoint names can be changed Two waypoints with the same name is always the same waypoint Waypoints are numbered as they are specified Blend radius If a blend radius is set the robot arm trajectory blends around the waypoint allowing the robot arm 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 I O command is executed when the robot arm stops at the waypoint However
3. Speed 0 0 Previous Next Real Robot Loops the underlying program commands Depending on the selection the underly ing 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 dedi cated loop variable called 1 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 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 than just after each iteration CB3 II 58 Version 3 0 13 17 Command SubProgram UNIVERSAL ROBOTS 13 17 Command SubProgram 9 File 15 42 25 CCCC Program Installation Move lO Log lt unnamed gt Command Graphics Structure Variables Set a Wait 0 01 SubProgram 1 Rename 9 Exit A amp Destack A subprogram can either point to a file on disk or can be contained in this program 9 StartPos ee Direction 9 FromPos No File Selected 9 ToPos ee PickSequence 9 StackPos Sot Wait 9 Waypoint Wait V Folder SubProgram file Load File Popup V Loop e empty Bl Script var 1 2 for
4. The Pattern command can be used to cycle through positions in the robot program The pattern command corresponds to one position at each execution 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 CB3 II 66 Version 3 0 13 24 Command Force UNIVERSAL ROBOTS File 15 42 33 CCCC Program Installation Move 1 0 Log H lt unnamed gt Command Graphics Structure Variables a8th Corner 1 Rename amp Pallet a Pattern Box 9 alst
5. speed 1 00 Previous Next gt eal Robo Waits for a given amount of time or for an I O signal CB3 II 52 Version 3 0 rev 15965 13 11 Command Set UNIVERSAL ROBOTS 13 11 Command Set File Program Installation Move I O Log 15 42 20 CCCC lt unnamed gt V Robot Program V Movej Waypoint 9 V Waypoint Set e Pallet ee Pattern 9 9 Approach Set Wait 9 Exit ee Destack 9 StartPos amp Direction 9 FromPos 9 ToPos ee PickSequence 9 StackPos Set Wait Waypoint Wait 9 V Folder lt o PalletSequence 9 PatternPoint Command Graphics Structure Variables Set Select the action you wish the robot to perform at this point in the program You can also specify changes in the robot s payload G No Action Q set Digital Output lt Di Output gt gt lor Q set Analog Output An Output 4 0 ma G Set lt output gt G Increment installation variable by one Variable Set the total payload to 0 00 kg Perform action now Simulation o Real Robot gt o Speed 100 Previous Next 8 Sets either digital or analog outputs to a given value
6. Previous Next gt When destacking the robot arm moves from the starting position in the given direc tion to search for the next item The condition on the screen determines when the next item is reached When the condition becomes satisfied the robot remembers the po sition 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 Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robot arm s current position Version 3 0 II 73 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 26 Command Seek Direction File 15 42 19 CCCC Program Installation Move Log lt unnamed gt V Robot Program V Move Waypoint V Moves 9 Waypoint Set oo Pallet eo Pattern PalletSequence 9 Approach PatternPoint Set Wait 9 Exit eo Destack 9 StartPos Direction amp PickSequence Structure Variables Command Graphics Direction A direction is given by the line between the TCP position of two waypoints C Stop after 500 0 mm C Sto
7. File 154240 CCCC Program Installation Move Log TCP Configuration Input Output Setup Mounting Input Names Output Names Setup digital in 0 default zl digital out O default xl digital in 1l default digital out 1 default Safety Z digital in 2 default digital out 2 default Variables digital in 3 default digital out 3 default MODBUS client digital in 4 default digital out 4 default 3 Features digital in 5 default digital out 5 default digital in 6 default digital out 6 default Default Program digital in 7 default digital out 7 default Load Save tool in 0 default tool out 0 default tool in 1l default tool out 1 default analog in 0 default analog out 0 default analog in 1 default analog out 1 default analog in 2 default E config out 0 default Rename to Version 3 0 II 25 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 10 Installation Variables 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 to only
8. CAUTION 1 When the robot is combined with or working with machines ca pable of damaging the robot then it is highly recommended to test all functions and the robot program separately It is recom mended to test the robot program using temporary waypoints outside the workspace of other machines Universal Robots can not be held responsible for any damages caused to the robot or to other equipment due to programming errors or malfunction ing of the robot 2 Do not expose the robot to permanent magnetic fields Very strong magnetic fields can damage the robot 1 6 Intended Use UR robots are industrial and intended for handling tools and fixtures or for processing or transferring components or products For details about the environmental condi tions under which the robot should operate see appendices B and D UR robots are equipped with special safety related features which are purposely de signed for collaborative operation where the robot operates without fences and or together with a human Collaborative operation is only intended for non hazardous applications where the complete application including tool work piece obstacles and other machines is without any significant hazards according to the risk assessment of the specific ap plication Any use or application deviating from the intended use is deemed to be impermissible misuse This includes but is not limited to Use in potentially explosive
9. 5 ee ee 5 16 IntendedUse moa soa s a e a s sl s s s L8 17 Risk Assessment ee sl o s s s s B 18 Emergency Stops s s e woe aouf 4 l l or on or s s s l9 19 Movement Without Drive Power 2 Transportation I 11 3 Mechanical Interface 1 13 31 Workspace of the Robot 32 Mounting s i a amp 4 s e e 9 ode 9 oe de ae 1 13 4 Electrical Interface I 19 41 Introducion 2 2 2 25 2 2 2 25 2 2 2 52 42 Electrical warnings and cautions 5 9 43 ControdlerI O s g p 2 2 2 2 2 25 2 2 2 252 2 43 1 Common specifications for all digital I O FA 43 2 2 2o xoc X odes v de oy amp os 123 43 3 1 1 11 127 43 4 Digital input from a button s 7 4 3 5 Communication with other machines or PLCs 1 28 4 3 6 General purpose analog I O 2 2 2 2 128 43 7 Remote ON OFF control 2 2 25 130 Version 3 0 lii UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS Copyright 2009 2014 by Universal Robots A S All ri
10. 13 1 New Program File 154215 CCCC Prog New Program gag From File Use Template All rights reserved A new robot program can start from either a template or from an existing saved robot program A template can provide the overall program structure so only the details of ersal Robots A S the program need to be filled in Copyright 2009 2014 by Univ Version 3 0 rev 15965 41 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 2 Program Tab 13 2 Program Tab Q File 15 42 16 CCCC Q Program Installation Move Log lt unnamed gt Command Graphics Structure Variables V Robot Program 2d lt empty gt Program The window on the left shows the Use the Next and Previous buttons to navigate through the program tree Use the Structure tab to modify the program tree L Add BeforeStart Sequence E C Set Initial Variable Values lt gt v Program Loops Forever Hid Speed 00 Previous Next gt o Real Robot 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 com mands while the area on the right side of the screen displays information relating to the current comma
11. 12 Touch the OK button bringing you to the Welcome screen 10 1 5 The First Program A program is a list of commands telling the robot what to do PolyScope allows peo ple 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 an important part of a robot program a way of teaching the robot how to move is essential In PolyScope motions of the tool are given using a series of waypoints i e points in the robot s workspace A waypoint can be given by moving the robot to a certain position or it can be calculated by software In order to move the robot arm to a certain position use either the Move tab see 12 1 or simply pull the robot arm into place while holding the teach button at the back side of the teach pendant Besides moving through waypoints the program can send I O signals to other ma chines at certain points in the robot s path and perform commands like if then and loop based on variables and I O signals To create a simple program on robot that has been started up do the following 1 Touch the Program Robot button and select Empty Program Version 3 0 II 5 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 10 2 PolyScope Programming Interface
12. Set Password Provides the facility to lock the programming part of the robot to people without a password see 14 3 Calibrate Screen Calibrates the touch of the touch screen see 14 4 Setup Network Opens the interface for setting up the Ethernet network for the robot control box see 14 5 Set Time Set the time and date for the system and configure the display formats for the clock see 14 6 Back Returns to the Welcome Screen Version 3 0 rev 15965 II 79 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 1 Language and Units 14 1 Language and Units Setup Robot Initialize Robot Lanquage and Units Update Robot Language Selection Int l English Set Password Calibrate Screen Setup Network Set Time Back Units Selection Metric units Q U S custom Restart PolyScope for new settings to take effect Restart Now Language and units used in PolyScope can be selected on this screen The selected language will be used for the text visible on the various screens of PolyScope as well as in the embedded help Tick off English programming to have the names of com mands within robot programs written in English PolyScope needs to be restarted for changes to take e
13. Version 3 0 UNIVERSAL ROBOTS 15 7 Password Lock II 91 15 8 Apply I 92 15 9 General Limits II 92 15 10 Joint Limits II 95 15 11 Boundaries qe ce de Il 96 15 11 1 Selecting a boundary to configure II 97 15 11 23D visualization II 98 15 11 3 Safety plane configuration II 98 15 11 4 Tool Boundary configuration II 102 15 12 Safety I O II 104 Glossary II 107 Index II 109 Version 3 0 vii UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS peniesei suu S v 510 Aq v L02 6002 1 Version 3 0 viii UR10 CB3 Congratulations on the purchase of your new Universal Robot UR10 The robot can be programmed to move a tool and communicate with other machines using electrical signals It is an arm composed of extruded aluminum tubes and joints Using our patented programming interface PolyScope it is easy to program the robot to move the tool along a desired trajectory What do the Boxes Contain When you order a complete robot you receive two boxes One contains the the robot arm and the following items are included in the other one Control box with teach pendant Mounting bracket for the control box Mounting bracket for the teach pendant Key for opening the control box Version 3 0 rev 15965 ix UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights res
14. 10 1 4 Quick Start II 4 10 1 5 The First Program II 5 10 2 PolyScope Programming Interface II 6 10 3 Welcome Screen II 8 10 4 Initialization Screen II 9 11 On screen Editors II 11 11 1 On screen Keypad 1 11 11 2 On screen Keyboard 12 11 8 On screen Expression Editor I 13 11 4 Pose Editor Screen I 13 12 Robot Control II 17 121 Move Tab I 17 12 1 1 Robot JE P II 17 12 1 2 Feature and Tool Position II 18 12 1 3 Move Tool II 18 12 1 4 Move Joints II 18 12 1 5 Teach I 18 122 I OTab 4 I 19 123 MODBUS client I O II 20 12 4 AutoMove Tab II 21 125 Installation gt Load Save II 22 12 6 Installation TCP Configuration 11 23 127 Installation gt Mounting I 24 128 Installation I O Setup II 25 129 Installation Safety II 26 12 10 Installation Variables E ee s II 26 12 11 Installation MODBUS client I O Setup II 28 12 12 Installation Features 31 12 13 Installation Default Program 35 12 13 1 Loading a Default Program II 36 12 13 2 Starting a Default Program 1 36 12 13 3 Auto Initialization II 36 12 14 Log Tab II 37 12 15 Load Screen 10 37 12 16 Run Tab II 40 13 Programming II 41 13 1 New Program 41 13 2 Program Tab II 42 13 3 Variables II 43 Version 3 0 UR10 CBS3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIV
15. 2 oo d Q 13 14 15 Touch the Next button bottom right so that the empt y line is selected in the tree structure on the left side of the screen Goto the St ructure 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 Onthe Move screen move the robot by pressing the various blue arrows or move the robot by holding the Teach button placed on the backside of the teach pen dant while pulling the robot arm Press OK 10 11 12 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 Teach button while pulling the robot arm Press OK with 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 You have now produced your first robot program that moves the robot between the two given waypoints WARNING 1 Do not drive the robot into itself or anything else as this may cause damage to the robot 2 Keep your head and torso outside the reach workspace of the robot Do not place fingers where they can be caught 3 This is only a quick start guide to show how easy it is to use a UR robot I
16. Installation Load Save File 15 42 42 CCCC Q Program installation Move 1 0 Log TCP Configuration Load Save Robot Installation to File Mounting The Robot Installation covers all aspects of how the robot is placed in its working Setup environment It includes the mechanical mounting of the robot electrical connections to other equipment as well as all options on which the robot program depends It does not 9 Safety include the program itself Variables MODBUS client Save the current installation Features default i Default Program Save SaveAs Load Save Load a different installation file Load Create New The Robot Installation covers all aspects of how the robot arm and control box are placed in the working environment It includes the mechanical mounting of the robot arm electrical connections to other equipment as well as all options on which the robot program depends It does not include the program itself These settings can be set using the various screens under the Installation tab except for the I O domains which are set in the 1 0 tab see 12 2 Itis possible to have more than one installation file for the robot Programs created will use the active installation and will load this installation automatically when used Any changes to an installation need to be saved to be preserved after power down If there are unsaved changes in t
17. Very Restricted Intended to be used where it is particularly dangerous for the robot arm or its payload to hit a human Restricted Intended to be used where there is a high risk of the robot arm or its payload hitting a human and the robot arm along with its payload has no sharp edges Default Intended to be used where people are aware of the robot arm and its payload and or when application has no sharp edges and no pinching hazards Least Restricted Intended to be used where there is little risk of the robot arm or its payload hitting a human such as inside CNC machines behind fences or in hard to reach places These modes are merely suggestions and a proper risk assessment is always required Switching to Advanced Settings Should none of the predefined sets of values be satisfactory the Advanced Settings button can be pressed to enter the ad vanced general limits screen Advanced Settings Version 3 0 93 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 9 General Limits Q File 15 4327 CC CC Program Installation Move Log Pee cannguration Safety Configuration Mounting General Limits Joint Limits Boundaries SafetyWO yo Limit Maximum Normal Mode Reduced Mode Force max 250 N 150 ON Variables Power ma
18. Can also be used to set the payload of the robot arm 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 protective stopping unexpectedly when the weight at the tool is different from the expected one Version 3 0 rev 15965 II 53 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 12 Command Popup Copyright 2009 2014 by Universal Robots A S All rights reserved 13 12 Command Popup File 154222 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables V MoveJ 9 Waypoint Set Popup Pallet ee Pattern Shows the message below on the screen and waits for the user to press OK 4 PalletSequence 9 Approach 9 PatternPoint eset Popup type Wait 0 01 o Exit o Message ee Destack Warning 9 StartPos ee Direction Error 9 FromPos 9 ToPos 4 PickSequence 9 StackPos Set Wait Waypoint Wait V Folder Preview Popup o Halt program execution at this popup M o Speed 10096 Previous Next gt o Real Robot The popup is a message that appears on the screen when the program reaches this command The st
19. It is recommended to tighten these bolts with 20N m torque If very accurate repositioning of the robot arm is desired two 8 holes are provided for use with a pin Also an accurate base counterpart can be purchased as an accessory Figure 3 1 shows where to drill holes and mount the screws Version 3 0 rev 15965 1 13 UR10 CBS3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 3 2 Mounting Mount the robot on a sturdy surface strong enough to withstand at least ten times the full torque of the base joint and at least five times the weight of the robot arm Furthermore the surface shall be vibration free If the robot is mounted on a linary axis or a moving platform then the acceleration of the moving mounting base shall be very low A high acceleration might cause the robot to stop thinking it bumped into something DANGER Make sure the robot arm is properly and securely bolted in place The mounting surface shall be sturdy CAUTION If the robot is bathed in water over an extended time period it might be damaged The robot should not be mounted in water or in a wet environment Tool The robot tool flange has four M6 thread holes for attaching a tool to the robot The holes need to be tightened with 9 Nm If very accurate repositioning of the tool is desired the 26 hole is provided for use with a pin Figure 3 2
20. NOTE Running a program from a USB drive is not recommended To run a program stored on a USB drive first load it and then save it in the local programs folder using the Save As option in the File menu 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 Fur thermore 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 Screen layout Load Program 2 Current Directory home hudson programs M t ft L 3 ABCDE urp 7 startABCDE urp Filename Filter Universal Robots Program files Y i 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 that all parent directories up to the root of the computer are shown Here you will notice that you may not be able to access all the directories above the programs folder CB3 II 38 Version 3 0 12 15 Load Screen UNIVERSAL ROBOTS By selecting a folder name in the list the load dialog changes to tha
21. Use the selector on the sequence command screen to define which of the way points in the sequence should correspond to the pattern positions Pallet Sequence Anchorable Sequence In an Pallet Sequence node the motions of the robot arm are relative to the pallet position The behavior of a sequence is such that the robot arm will be at the position 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 13 26 Command 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 thickness or where the exact positions of the items are not known or too hard to program Stacking Destacking Version 3 0 II 71 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights res
22. Yellow terminals with black text when not configured as safety I O The common specifications in section 4 3 1 must be observed The general purpose I O can be used to drive equipment like pneumatic relays di rectly or for communication with other PLC systems All digital outputs can be dis abled automatically when program execution is stopped see more in part In this mode the output is always low when a program is not running Examples are shown in the following subsections These examples use regular digital outputs but any con figurable outputs could also have be used if they are not configured to perform a safety function 4 3 3 1 Load controlled by a digital output This example shows how to connect a load to be controlled from a digital output see below Digital Outputs OV LOAD 004 amp ov ov DO5 m E 2 W ov 007 4 3 4 Digital input from a button The example below shows how to connect a simple button to a digital input Version 3 0 1 27 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 3 Controller I O Digital Inputs 4 3 5 Communication with other machines or PLCs The digital I O can b
23. but is not limited to Making a risk assessment for the complete system nterfacing other machines and additional safety devices if defined by the risk assessment Setting up the appropriate safety settings in the software Ensuring that the user will not modify any safety measures Validating that the total system is designed and installed correctly Specifying instructions for use Marking the robot installation with relevant signs and contact information of the integrator Collecting all documentation in a technical file Guidance on how to find and read applicable standards and laws is provided on http support universal robots com Version 3 0 I 3 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 1 4 Warning Symbols in this Manual 1 3 Limitation of Liability Any information given in this manual regarding safety must not be construed as a warranty by UR that the industrial manipulator will not cause injury or damage even if all safety instructions are complied with 1 4 Warning Symbols in this Manual The table below defines the captions specifying the danger levels used throughout this manual The same warning signs are used on the product gt DANGER This indicates an imminently hazardous electrical situation which if not avoided
24. output 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 Remember to check that a sensor with voltage output can drive the internal resistance of the tool or the measurement might be invalid 4 4 3 2 Using the Tool Analog Inputs Differential The example below shows how to connect an analog sensor with a differential output Connect the negative output part to GND 0V and it works in the same way as a non differential sensor UR10 CB3 1 34 Version 3 0 4 5 Ethernet UNIVERSAL ROBOTS 4 5 Ethernet An Ethernet connection is provided at the bottom of the control box see illustration below The Ethernet interface can be used for the following MODBUS I O expansion modules See more in part II Remote access and control The electrical specifications are shown below Parameter Min Typ Max Unit Communication speed 10 100 Mb s 4 6 Mains connection 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 In order to energize the robot the control box must be connected to the mains This must be done through the standard IEC C20 plug at the bottom of the control box through a corresponding IEC C19 cord see illustration below The mains supply shall be equipped with the following as a min
25. 00 Previous Next gt o Real Robot A call to a sub program will run the program lines in the sub program and then return to the following line CB3 II 60 Version 3 0 rev 15965 13 18 Command Assignment UNIVERSAL ROBOTS 13 18 Command Assignment File Program Installation Move 1 0 Log 15 42 25 cccc lt unnamed gt oo Pattern a amp Palletsequencd 9 Approach 9 PatternPoint Wait 0 01 s Destack Command Graphics Structure Variables Exit Variable Assignment Set Assigns the selected variable with the value of the expression Expression Source Expression 9 StartPos amp Direction var 2 force 9 FromPos 9 ToPos Rename 9 StackPos Set Wait Waypoint Wait V Folder o Halt Popup V Loop Script E vari 2 force X Simulation 994 o Real Robot La Speed 100 Previous Next gt 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 Version 3 0 rev 15965 II 61 CB3 Copyright 2009 2014 by Uni
26. Code UR10 CB3 1 62 Version 3 0 UNIVERSAL ROBOTS This standard defines enclosure ratings regarding protection against dust and water UR robots are designed and classified with an IP code according to this standard see robot sticker IEC 60320 1 A1 2007 EN 60320 1 A1 2007 2006 95 EC Appliance couplers for household and similar general purposes Part 1 General requirements The mains input cable complies with this standard ISO 9409 1 2004 Type 50 4 M6 Manipulating industrial robots Mechanical interfaces Part 1 Plates The tool flange on UR robots conforms to type 50 4 M6 of this standard Robot tools should also be con structed according to this standard to ensure proper fitting ISO 13732 1 2006 EN ISO 13732 1 2008 2006 42 EC Ergonomics of the thermal environment Methods for the assessment of human responses to contact with surfaces Part 1 Hot surfaces The UR robots are designed so that the surface temperature is kept under the ergonomic limits defined in this standard IEC 61140 A1 2004 EN 61140 A1 2006 2006 95 EC Protection against electric shock Common aspects for installation and equipment UR robots are constructed in compliance with this standard to provide protection against electrical shock A protective earth ground connection is mandatory as defined in the Hardware Installation Manual IEC 60068 2 1 2007 IEC 60068 2 2 2007 IEC 60068 2 27 2008 IEC 60068 2 64 20
27. Corner 9 a2nd Corner 9 a3rd Corner 9 a4th Corner 9 a5th Corner 9 a6th Corner 9 a7th Corner e aBth Corner s Palletsequence 9 Approach 9 PatternPoint Set Wait 0 01 1 1 9 Exit s Destack 9 StartPos amp Direction vom 9 FromPos 5i m 38 ToPos 6 eS a uf N E oe PickSequence EE 9 StackPos Set TIR 4 Wait 1 Waypoint ae Wait z 2 Change this Position Move robot here 3 gir lt gt ee gt Speed 100 Previous Next 8 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 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 Pat tern command screen The variable cycles through the numbers from 0 to X Y Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expressions 13 24 Command Force Force mode allows for compliance and f
28. Mounting UNIVERSAL ROBOTS DANGER 1 Make sure that the control box teach pendant and cables do not come into contact with liquids A wet control box could cause death 2 Thecontrol box and teach pendant must not be exposed to dusty or wet environments that exceed IP20 rating Pay special atten tion to environments with conductive dust Version 3 0 1 17 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 3 2 Mounting UNIVERSAL ROBOTS peniesei suu S v siogou Aq v L02 6002 1 Version 3 0 I 18 UR10 CB3 4 1 Introduction This chapter describes all the electrical interfaces of the robot arm and control box The different interfaces are divided into five groups with different purposes and prop erties Controller I O Tool I O Ethernet Mains connection Robot connection The term I O refers both digital and analog control signals going from or to an interface These five groups are described in the following sections Examples are given for most types of I O The warnings and cautions in the following section are relevant for all five groups and must be observed 4 2 Electrical warnings and cautions The following warnings and cautions must be observed when a robot application is designed and installed The warnings and cautions also apply for service work DANGER 1 Never connect safety signals
29. Position x 120 11 mm y v 431 76 mm z 253 93 mm 0 0012 3 1664 Rz 0 0395 Move Joints Home Base EHI 91 71 shoulder gt 98 96 E Elbow gt 126 22 9 226 22 e wrist QE m IBS 4625 wrist 2 QE mm 91 39 Wrist 3 1 78 AWE ala Speed c 00 X Cancel o Real Robot 12 1 1 Robot The current position of the robot arm is shown in 3D graphics Push the magnifying glass icons to zoom in out or drag a finger across to change the view To get the best feel for controlling the robot arm select the View feature and rotate the viewing angle of the 3D drawing to match your view of the real robot arm If the current position of the robot TCP comes close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 15 11 a 3D representation of the proximate boundary limit is shown Note that when the robot is running a program the visualization of boundary limits will be disabled Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 15 5 are active Version 3 0 rev 15965 II 17 CB3 Copyright 2009 20
30. SIx CIx DIx OFFregion 3 5 V EIx SIx CIx DIx ON region 11 30 V EIx SIx CIx DIx Current 11 30V 2 15 mA EIx SIx CIx DIx Function PNP Type EIx SIx CIx DIx IEC 61131 2 3 Type NOTE The word configurable is used for I O that can be configured as ei ther safety related I O or normal I O These are the yellow terminals with black text 4 3 2 Safety I O This section describes the dedicated safety inputs Yellow terminal with red text and the configurable I O Yellow terminals with black text when configured as safety I O The common specifications in section 4 3 1 must be observed Safety devices and equipment must be installed according to the safety instructions and the risk assessment see chapter 1 All safety I O are pairwise redundant and must be kept as two separate branches A single fault shall not cause loss of the safety function The two permanent safety inputs are the emergency stop and the safeguard stop The emergency stop input is for emergency stop equipment only The safeguard stop input is for all kinds of safety related protective equipment The functional difference is shown below Version 3 0 1 23 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 3 Controller I O Emergency Stop Safeguard Stop Robot stops moving Yes Yes Program
31. Safeguard stop Performs a category 2 stop Safeguard reset input Resumes the robot from a Safeguard stopped state when an edge on the Safeguard reset input occurs Reduced mode The safety system transitions to Reduced mode limits A category 1 and 2 stop decelerates the robot with drive power on which enables the robot to stop without deviating from its current path Monitoring of safety inputs Category 1 and 2 stops are monitored by the safety system in the following way 1 The safety system monitors that the braking initiates within 24 ms see Figure 5 2 2 If a joint is moving its speed is monitored to never be higher than the speed ob tained by constantly decelerating from the maximum joint speed limit for Normal mode to 01rad s in 500 ms 3 If a joint is at rest joint speed is less than 0 2 rad s it is monitored that it does not move more than 0 05 rad from the position it had when the speed was measured below 0 2 rad s Additionally for a category 1 stop the safety system monitors that after the robot arm is at rest the powering off is finalized within 600 ms Furthermore after a safeguard stop input the robot arm is only allowed to start moving again after a positive edge UR10 CB3 I 42 Version 3 0 5 3 Safety related Electrical Interfaces UNIVERSAL ROBOTS rad s Max joint speed in normal mode time 0 024 0 524 s Figure 5 2 The green area below the ramp is the allowed speeds for a joint durin
32. Setup Network 14 5 Setup Network Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Set Time Back Setup Network Select your network method Q DHCP Static Address Disabled network Network detailed settings IP address 0 0 0 0 2 8 Subnet mask 0 0 0 0 Default gateway 0 0 0 0 Preferred DNS server 0 0 0 0 Alternative DNS server 0 0 0 0 Apply Update Panel for setting up the Ethernet network An Ethernet connection is not necessary for the basic robot functions and is disabled by default CB3 I 84 Version 3 0 rev 15965 14 6 Set Time UNIVERSAL ROBOTS 14 6 Set Time Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Set Time Back Set Time Time format Please select the current time 24 hour s 12 hour f 15 42 06 Set Date Please select today s date October 28 2014 Date format amp October 28 2014 Oct 28 2014 10 28 14 Restart PolyScope for new settings to take effect Restart Now Set the time and date for the system and configure the display formats for the clock The clock is displayed at the top of the R
33. The radio buttons in the upper portion of the subpanel make it possible to independently set up Maximum Speed and Position Range for the joints When in Teach mode see 12 1 5 and the current position or speed of a joint is close to the limit the user will feel a repelling force which increases in magnitude as the joint approaches the limit The force is generated when joint speed is within approximately 20 s of the speed limit or joint position is within approximately 8 of the position limit Maximum Speed This option defines the maximum angular velocity for each joint This is done by tapping the corresponding text field and entering the new value The highest accepted value is listed in the column titled Maximum None of the values can be set below the tolerance value Version 3 0 II 95 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 11 Boundaries Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 15 11 and 15 12 for more details Fur thermore the limits for Reduced mode must not be higher than their Normal mode counterparts The tolerance and unit for each limit are listed at the end of the row that corresponds to it When a program is running the speed of the robot arm is automatically adjusted in order to not e
34. brake releasing procedure Auto brake release the robot On lt Di Input gt X edge to High x Version 3 0 rev 15965 35 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 13 Installation Default Program This screen contains settings for automatically loading and starting a default program and for auto initializing the robot arm on power up WARNING If auto load auto start and auto initialize all three are enabled the robot will start running the selected program as soon as the control box is powered up 12 13 1 Loading a Default Program A default program can be chosen to be loaded when the control box is powered up Furthermore the default program will also be auto loaded when the Run Program screen see 10 3 is entered and no program is loaded 12 13 2 Starting a Default Program The default program can be auto started in the Run Program screen When the default program is loaded and the specified external input signal edge transition is detected the program will be started automatically Note on startup the current input signal level is undefined and chosing a transition that matches the signal level on startup will start the program immediately Further more leaving the Run Program screen or pressing the stop button in the Dashb
35. client Features Tool X Point 1 Default Program Load Save Move robot here Change this point Joggable Variable Add Line Push this button to add a line feature to the installation A line is defined as an axis between two point features This axis directed from the first point towards the second point will constitute the y axis of the line coordinate system The z axis will be defined by the projection of the z axis of the first sub point onto the plane perpendicular to the line The position of the line coordinate system is the same as the position for the first sub point Version 3 0 II 33 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 12 Installation Features File Program Installation Move I O Log 15 42 56 CCCC Q TCP Configuration Mounting Setup vh Safety Mariables MODBUS client Features Base Tool 9 Line 1 X Point 1 X Point 2 Default Program Load Save Line 1 Show axes Joggable E RI RI Variable Delete Move robot here Add Plane Push this button to add a plane feature to the installation A plane is defined by three sub point features The position of the coordinate system is the same as the position for the first sub point The z axis is the plane normal and t
36. connect a mouse and a keyboard to the control box or the teach pen dant however this is not required Almost all text fields are touch enabled so touch ing them launches an on screen keypad or keyboard Non touchable text fields have an editor icon next to them that launches the associated input editor Eg Soe f x The icons of the on screen keypad keyboard and expression editor are shown above The various screens of PolyScope are described in the following sections Version 3 0 II 7 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 10 3 Welcome Screen 10 3 Welcome Screen PolyScope Robot User Interface Please select Run Program UNIVERSAL ROBOTS Setup Robot About Shutdown Robot After booting up the controller PC the welcome screen is shown The screen offers the following options Run Program Choose and run an existing program This is the simplest way to operate the robot arm and control box Program Robot Change a program or create a new program Setup Robot Set passwords upgrade software request support calibrate the touch screen etc e Shutdown Robot Powers off the robot arm and shuts down the control box CB3 II 8 Version 3 0 10 4 Initialization Screen UNIVERSAL ROBOTS 10 4 Initialization Screen Initiali
37. could result in death or serious injury DANGER This indicates an imminently hazardous situation which if not avoided could result in death or serious injury WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in injury or major damage to the equip ment WARNING This indicates a potentially hazardous situation which if not avoided could result in injury or major damage to the equipment WARNING This indicates a potentially hazardous hot surface which if touched could result in injury CAUTION This indicates a situation which if not avoided could result in dam age to the equipment UR10 CB3 I4 Version 3 0 1 5 General Warnings and Cautions UNIVERSAL ROBOTS 1 5 General Warnings and Cautions This section contains some general warnings and cautions Some of which are re peated or explained in different parts of the manual Other warnings and cautions are present throughout the manual DANGER Make sure to install the robot and all electrical equipment according to the specifications and warnings found in the Chapters 3 and 4 Version 3 0 I 5 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 1 5 General Warnings and Cautions WARNING 1 10 11 Make sure the robot arm and tool are properly and securely bolte
38. environments Use in medical and life critical applications Use before performing a risk assessment Use where the rated performance levels are insufficient Use where the reaction times of the safety functions are insufficient e Use as a climbing aid Operation outside the permissible operating parameters 1 7 Risk Assessment One of the most important things that an integrator needs to do is to make a risk assessment The robot itself is partly completed machinery as the safety of the robot UR10 CB3 1 8 Version 3 0 1 8 Emergency Stop UNIVERSAL ROBOTS installation depends on how the robot is integrated E g tool obstacles and other machines It is recommended that the integrator uses guidelines in ISO 12100 and ISO 10218 2 to conduct the risk assessment The risk assessment shall consider two scenarios Teaching the robot while developing the robot installation Normal operation of the robot installation If the robot is installed in a non collaborative installation E g when using a haz ardous tool the risk assessment might conclude that the integrator needs to connect additional safety devices E g an enable device to protect him while programming Universal Robots has identified the potential significant hazards listed below as haz ards which must be considered by the integrator Note that other significant hazards might be present in a specific robot installation Entrapment of
39. in time that it is detected and the robot is stopped and powered off is 1250 ms Part II of the PolyScope Manual describes configuration of the safety related features inputs and outputs See Chapter 4 for descriptions on how to connect safety devices to the electrical interface 5 1 Limiting Safety related Functions The robot has a number of safety related functions that can be used to limit the move ment of its joints and of the robot Tool Center Point TCP The TCP is the center point of the output flange with the addition of the TCP offset see Part II the PolyScope Manual The limiting safety related functions are Limiting Safety Description Function Joint position Min and max angular joint position Joint speed Max angular joint speed TCP position Planes in Cartesian space limiting robot TCP position TCP speed Max speed of the robot TCP TCP force Max pushing force of the robot TCP Momentum Max momentum of the robot arm Power Max applied robot arm power Advanced path control software decreases speed or issues a program execution stop if the robot arm approaches a safety related limit Violations of limits will hence only occur in exceptional cases Nevertheless if a limit is violated the safety system issues a category 0 stop with the following performance Version 3 0 1 39 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Univ
40. move to a specific position in its workspace Examples are when the robot arm has to move to the start position of a program before running it or when moving to a waypoint while modifying a program o 15 42 14 CCCC Run Move vO 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 Speed 710096 3 cancel Animation The animation shows the movement the robot arm is about to perform CAUTION Compare the animation with the position of the real robot arm and make sure that the robot arm can safely perform the movement with out hitting any obstacles CAUTION The automove function moves in joint space not in linear Cartesian space Collision might damage the robot or other equipment Version 3 0 21 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 5 Installation Load Save Auto Hold down the Auto button to move the robot arm 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 arm can be moved manually This is only needed if the movement in the animation is not preferable 12 5
41. of the robot TCP comes close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 15 11 a 3D representation of the proximate boundary limit is shown Note that when the robot is running a program the visualization of boundary limits will be disabled Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 15 5 are active Version 3 0 II 75 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 29 Structure Tab The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When the target robot TCP no longer is in the proximity of the limit the 3D represen tation disappears If the TCP is in violation or very close to violating a boundary limit the visualization of the limit turns red The 3D view can be zoomed and rotated to get a better view of the robot arm The but tons in the top right side of the screen can disable the vari
42. plane set inthe Safety Plane Properties section see 15 11 3 at the bottom of the tab Click the Tool Boundary entry to configure the orientation boundary limit for the robot tool The configuration of the limit can be specified in the Tool Boundary Properties section see 15 11 4 at the bottom of the tab Version 3 0 II 97 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 11 Boundaries Click the button to toggle the 3D visualization of the boundary limit on off If a boundary limit is active the safety mode see 15 11 3 and 15 11 4 is indicated by one of the following icons D B 15 11 2 3D visualization The 3D View displays the configured safety planes and the orientation boundary limit for the robot tool together with the current position of the robot arm configured boundary entries where the visibility toggle is selected showing icon in the Safety Boundaries section are displayed together with the current selected boundary limit The active safety planes are shown in yellow and black with a small arrow represent ing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green A small arrow illustrates the side of the plane that does rot trigger the transition
43. reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 5 3 Safety related Electrical Interfaces Safety Output Description System emergency stop Robot moving Robot not stopping Reduced mode Not reduced mode Activated by an active Robot emergency stop input or by the Emergency stop button While this signal is inactive no single joint of the robot arm moves more than 0 1 rad Inactive when the robot arm has been requested to stop and has not stopped yet Active when the safety system is in Reduced mode The Reduced mode output negated If a safety output is not set properly the safety system issues a category 0 stop with the following worst case reaction times Safety Output Worst Case Reaction Time System emergency stop 1100ms Robot moving 1100 ms Robot not stopping 1100 ms Reduced mode 1100 ms Not reduced mode 1100 ms UR10 CB3 1 44 Version 3 0 Itis essential for both maintenance and repair work that it be performed in compliance with all safety instructions in this manual Maintenance calibration and repair work must be performed according to the newest versions of Service Manuals found on the support website http support universal robots com All UR distributors have access to this support site Repairs shall only be performed by authorized system integrators or by Universal Robots All parts returned to Universal Robots shall be r
44. robot The robot can use up to one second to stop all motion The safety related control system monitors that the robot stays at the stop position For more information see IEC 60204 1 2006 Diagnostic coverage DC is a measure of the effectiveness of the diagnostics imple mented to achieve the rated performance level For more information see EN 15013849 1 2008 Integrator The integrator is the entity that designs the final robot installation The integrator is responsible for making the final risk assessment and must ensure that the final installation complies with local laws and regulations MTTFd The Mean time to dangerous failure MTTFd is a value based on calculations and tests used to achieve the rated performance level For more information see EN 15013849 1 2008 Risk assessment A risk assessment is the overall process of identifying all risks and reducing them to an appropriate level A risk assessment should be documented Consult ISO 12100 for further information Performance Level A Performance Level PL is a discrete level used to specify the abil ity of safety related parts of control systems to perform a safety functions under foreseeable conditions PLd is the second highest reliability classification mean ing that the safety function is extremely reliable For more information see EN 15013849 1 2008 Version 3 0 II 107 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyri
45. shows where to drill holes and mount the screws DANGER 1 Make sure the tool is properly and securely bolted in place 2 Make sure that the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly Control Box The control box can be hung on a wall or it can be placed on the ground A clearance of 50mm on each side is needed for sufficient airflow Extra brackets for mounting can be bought Teach Pendant The teach pendant can be hung on a wall or on the control box Extra brackets for mounting the teach pendant can be bought Make sure that no one can trip over the cable UR10 CB3 1 14 Version 3 0 3 2 Mounting UNIVERSAL ROBOTS 0 05 T LO x 2 i KR Q Y Figure 3 1 Holes for mounting the robot Use four M8 bolts All measurements are in mm Version 3 0 1 15 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 3 2 Mounting UNIVERSAL ROBOTS A A 06 8H OS p mM zoh LHS LED 7SE 8 MWAN z100 ZH si penJesei suu S v s ogoy jesienum Aq L02 6002 1ubuKdoo in mm Figure 3 2 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 Version 3 0 I 16 UR10 CB3 3 2
46. the actual entered value Nevertheless should the joint position exceed the entered range the safety system performs a category 0 stop 15 11 Boundaries In this tab you can configure boundary limits consisting of safety planes and a limit on the maximum allowed deviation of the robot tool orientation It is also possible to define planes that trigger a transition into Reduced mode Safety planes can be used to restrict the allowed workspace of the robot by enforcing that the robot TCP stay on the correct side of the defined planes and not pass through them Up to eight safety planes can be configured The constraint on the orientation of tool can be utilized to ensure that the robot tool orientation does not deviate more than a certain specified amount from a desired orientation CB3 II 96 Version 3 0 15 11 Boundaries UNIVERSAL ROBOTS WARNING Defining safety planes only limits the TCP and not the overall limit for the robot arm This means that although a safety plane is speci fied it does not guarantee that other parts of the robot arm will obey this restriction The configuration of each boundary limit is based on one of the features defined in the current robot installation see 12 12 NOTE It is highly recommended that you create all features needed for the configuration of all the desired boundary limits and assign them ap propriate names before editing the safety configuration Note that since
47. the robot arm is powered off once the Safety tab has been un locked the Too1 feature containing the current position and orien tation of the robot TCP as well as Teach mode see 12 1 5 will not be available When in Teach mode see 12 1 5 and the current position of the robot TCP is close to a safety plane or the deviation of the orientation of the robot tool from the desired orien tation is close to the specified maximum deviation the user will feel a repelling force which increases in magnitude as the TCP approaches the limit The force is generated when the TCP is within approximately 5 cm of a safety plane or the deviation of the orientation of the tool is approximately 3 from the specified maximum deviation When a plane is defined as a Trigger Reduced mode plane and the TCP goes beyond this boundary the safety system transitions into Reduced mode which applies the Reduced mode safety settings Trigger planes follow the same rules as regular safety planes except they allow the robot arm to pass through them 15 11 1 Selecting a boundary to configure TheSafety Boundaries panelon the left side of the tab is used to select a boundary limit to configure To set up a safety plane click on one of the top eight entries listed in the panel If the se lected safety plane has already been configured the corresponding 3D representation of the plane is highlighted in the 3D View see 15 11 2 to the right of this panel The safety
48. unnamed gt o o V Folder 9 V Movej 9 Waypoint 9 V Move Waypoint Set Pallet ee Pattern PalletSequence Approach 9 PatternPoinj Set Wait 0 01 9 Exit ee Destack 9 StartPos amp Direction 9 FromPos 9 ToPos L 9 StackPos Set Wait Waypoint Wait lt empty gt Comment Command Graphics Structure Variables Comment Please enter comment bus M o Real Robot Speed 100 does not do anything during program execution Previous Next gt Gives the programmer an option to add a line of text to the program This line of text CB3 II 56 Version 3 0 rev 15965 13 15 Command Folder UNIVERSAL ROBOTS 13 15 Command Folder o File Program Installation Move I O Log 15 42 21 CCCC lt unnamed gt V Robot Program E V Movej Waypoint 9 V Move 9 Waypoint Set e Pallet Pattern ee PalletSequence 9 Approach 9 PatternPoint Set Wait 0 01 9 Exit ee Destack 9 StartPos 9 so Direction 9 FromPos 9 ToPos ee PickSequence 9 StackPos Set Wait Waypoint Wait V Folder 9 o Command Graphics Structure Variables Folder A folder is simply a collec
49. using the buttons on the screen that command An ElseIf command can be removed from the screen for The open Check Expression Continuously allow the conditions of the If and 1 Lr se statement will be reached self statements to be evaluated while the contained lines are executed If a expres sion evaluates to False while inside the body of the I f part the following ElseIf CB3 II 62 Version 3 0 13 20 Command Script UNIVERSAL ROBOTS 13 20 Command Script Q File 15 42 23 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Pallet s Pattern ee PalletSequence Script Code Line Approach 9 PatternPoint Set Wait 0 01 9 Exit ee Destack 9 StartPos ee Direction 9 FromPos 9 ToPos ee PickSequence 9 StackPos Set Wait 9 Waypoint Wait V Folder lt empty gt Below you can enter text that will be executed as script code by the URController Comment Halt Popup V Loop B Script Il I he Speed 100 Previous Next gt Real Robot This command gives access to the underlying real time script language that is exe cuted by the robot controller It is intended for advanced users only
50. with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety system will perform a category 0 stop should the deviation of the tool orientation exceed the limit without tolerance Version 3 0 II 103 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 12 Safety I O 15 12 Safety I O File 15 43 34 CCCC O Program Installation Move I O Log CP configuration Safety Configuration Mounting General Limits Joint Limits Boundaries Safety I O Input Signal Function Assignment Safety config in 0 config in 1 Reduced Mode Variables MODBUS client config in 2 config in 3 Safeguard Reset E Features config in 4 config in 5 Unassigned x Default Program config in 6 config in 7 Unassigned x Load Save Output Signal Function Assignment config out 0 config out 1 Robot Moving x config out 2 config out 3 System Emergency Stopped x config out 4 config out 5 Unassigned x config out 6 config out 7 Unassigned l Lock Apply This screen defines the Safety functions for configurable inputs and outputs I Os The I Os are divided between the inputs and outputs and
51. 014 05 27 bis until 2019 05 26 Essen 2014 06 30 45141 Essen www tuev nord cert de technology tuev nord de UR10 CB3 1 56 Version 3 0 rev 15 B 3 Environmental Test Certificate UNIVERSAL ROBOTS B 3 Environmental Test Certificate Climatic and mechanical assessment sheet no 1275 DELTA client Universal Robots A S Energivej 25 5260 Odense S Denmark DELTA project no T207415 1 Product identification URS robot arm UR5 AE CB3 URS control box AE CB3 0A series URS teach pendant AE CB3 URIO robot arm UR10 AE CB3 OA series URIO control box UR10 AE CB3 OA series UR10 teach pendant AE CB3 DELTA report s DELTA project no T207415 1 DANAK 19 13752 Revision 1 Other document s Conclusion The two robot arms URS UR10 including their control box and teach pendant have been tested according to the below listed standards The test results are given in the DELTA report listed above The tests were carried out as specified and the test criteria for environmental tests as specified in Annex 1 of the report were fulfilled 60068 2 1 TEC 60068 2 2 Test Ae 5 C 16h Test Be 50 C 16h 60068 2 64 Test Fh 5 20 Hz 0 05 g Hz 20 150 Hz 3 dB octave 1 66 grms 3 x 1 2 h IEC 60068 2 27 Test Ea Shock 160 g 1 ms 3 x 6 shocks Date H rsholm 14 March 2014 Asses
52. 08 EN 60068 2 1 2007 EN 60068 2 2 2007 EN 60068 2 27 2009 EN 60068 2 64 2008 Environmental testing Version 3 0 1 63 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS Part 2 1 Tests Test A Cold Part 2 2 Tests Test B Dry heat Part 2 27 Tests Test Ea and guidance Shock Part 2 64 Tests Test Fh Vibration broadband random and guidance UR robots are tested according to the test methods defined in these standards IEC 61784 3 2010 EN 61784 3 2010 SIL 2 Industrial communication networks Profiles Part 3 Functional safety fieldbuses General rules and profile definitions This standards defines requirements for safety rated communication buses IEC 60204 1 A1 2008 EN 60204 1 A1 2009 2006 42 EC Safety of machinery Electrical equipment of machines Part 1 General requirements The general principles of this standard are applied IEC 60664 1 2007 IEC 60664 5 2007 EN 60664 1 2007 2006 95 EC EN 60664 5 2007 2006 95 EC Insulation coordination for equipment within low voltage systems Part 1 Principles requirements and tests Part 5 Comprehensive method for determining clearances and creepage distances equal to or less than 2 mm The electrical circuitry of UR robots is designed in compliance with this standard EUROMAP 67 2013 V1 9 Electrical Interface betw
53. 13 14 2 Collisions can release high portions of kinetic energy which are significantly higher at high speeds and with high payloads Ki netic Energy 5Mass Speed Combining different machines might increase hazards or cre ate new hazards Always make an overall risk assessment for the complete installation When different safety and emergency stop performance levels are needed always choose the highest performance level Always read and understand the manuals for all equipment used in the installation Never modify the robot A modification might create hazards that are unforeseen by the integrator All authorized reassem bling shall be done according to the newest version of all rele vant service manuals UNIVERSAL ROBOTS DISCLAIMS ANY LIABILITY IF THE PRODUCT IS CHANGED OR MODIFIED IN ANY WAY If the robot is purchased with an extra module e g euromap67 interface then look up that module in the respective manual WARNING 1 The robot and controller box generate heat during operation Do not handle or touch the robot while in operation or immediately after operation To cool the robot down power off the robot and wait one hour Never stick fingers behind the internal cover of the controller box Version 3 0 1 7 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 1 7 Risk Assessment
54. 14 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 1 Move Tab The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When the robot TCP no longer is in the proximity of the limit the 3D representation disappears If the TCP is in violation or very close to violating a boundary limit the visualization of the limit turns red 12 1 2 Feature and Tool Position At the top right part of the screen the feature selector can be found It defines which feature to control the robot arm relative to while below it the boxes display the full coordinate value for the tool relative to the selected feature Values can be edited manually by clicking on the coordinate or the joint position This will take you to the pose editor screen see 11 4 where you can specify a target position and orientation for the tool or target joint positions 12 1 3 Move Tool Holding downa translate arrow top will move the tool tip of the robot in the direction indicated Holding downa rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the Tool Center Point TCP i e the point at the end of the robot arm that gives a cha
55. 4 14 Draft Pending Industrial Robots and Robot Systems General Safety Requirements This Canadian standard is the ISO standards ISO 10218 1 see above and 2 combined into one document It is expected to add additional requirements for the user of the robot system Some of these requirements might need to be addressed by the robot integrator A final version is expected to be published in 2014 Note that part two ISO 10218 2 of this standard is intended for the integrator of the robot system and not Universal Robots IEC 61000 6 2 2005 IEC 61000 6 4 A1 2010 EN 61000 6 2 2005 2004 108 EC EN 61000 6 4 A1 2011 2004 108 EC Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments Part 6 4 Generic standards Emission standard for industrial environments Version 3 0 I 61 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS These standards define requirements for the electrical and electromagnetic disturbances Conforming to these standards ensures that the UR robots perform well in industrial environments and that they do not disturb other equipment IEC 61326 3 1 2008 EN 61326 3 1 2008 Electrical equipment for measurement control and laboratory use EMC requirements Part 3 1 Immunity requirements for safety related systems and for equipme
56. 9 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 9 General Limits 15 8 Apply When unlocking the safety configuration the robot arm will be powered off while changes are being made The robot arm cannot be powered on until the changes have been applied or reverted and a manual power on is performed from the initialization screen Any changes to the safety configuration must be applied or reverted before navigating away from the Installation tab These changes are not in effect until after the Apply button is pressed and confirmation is performed Confirmation requires visual inspection of the changes given to the robot arm For safety reasons the information shown is given in SI Units An example of the confirmation dialog is shown in figure 15 8 Confirmation of applied Safety Configuration General Limits Joint Limits Boundaries Safety 1 0 Normal Mode Reduced Mode Force 150 00 120 00 N Power 300 00 200 00 W Speed 1 50 0 75 m s Momentum 25 00 10 00 kg m s Confirm Safety Configuration Decline Furthermore on confirmation the changes are automatically saved as part of the cur rent robot installation See 12 5 for further information on saving the robot installation 15 9 General Limits The general safety limits serve to limit the linear speed of the robot TCP as well as the force it may exert
57. All rights reserved UNIVERSAL ROBOTS 12 3 MODBUS client I O Configurable I O s can be reserved for special safety settings defined in the safety I O configuration section of the installaton see 15 12 those which are reserved will have the name of the safety function in place of the default or user defined name Configurable outputs that are reserved for safety settings are not togglable and will be displaed as LED s only The electrical details of the signals are described in the user manual Analog Domain Settings The analog I O s can be set to either current 4 20mA or voltage 0 10V output The settings will be remembered for eventual later restarts of the robot controller when a program is saved 12 3 MODBUS client I O Here the digital MODBUS client I O signals as set up in the installation are shown If the signal connection is lost the corresponding entry on this screen is disabled Q File 15 43 08 CCCC Q Program Installation Move 1 0 Log Robot MODBUS client Inputs Outputs simulation o Real Robot Inputs View the state of digital MODBUS client inputs Outputs View and toggle the state of digital MODBUS client outputs A signal can only be toggled if the choice for I O tab control described in 12 8 allows it CB3 II 20 Version 3 0 12 4 AutoMove Tab UNIVERSAL ROBOTS 12 4 AutoMove Tab The AutoMove tab is used when the robot arm has to
58. CCCC Program Installation Move VO Log TCP Configuration MODBUS client IO Setup E Mounting 0 0 0 0 Setup 1 10 0 0 0 L Safet e A 5937 o Digital Output _ 0 51 Ead 1 EE Variables T uus MODBUS client Please select v 0 MODBUS 2 22d basima Features Default Program 0 0 0 0 H Load Save 1 10 0 0 0 C Show advanced options T Here the MODBUS client master signals can be set up Connections to MODBUS servers or slaves on specified IP addresses can be created with input output signals registers or digital Each signal has a unique name so it can be used in programs Refresh Push this button to refresh all MODBUS connections Add unit Push this button to add a new MODBUS unit Delete unit Push this button to delete the MODBUS unit and all signals on that unit Set unit IP Here the IP address of the MODBUS unit is shown Press the button to change it Add signal Push this button to add a signal to the corresponding MODBUS unit CB3 II 28 Version 3 0 12 11 Installation MODBUS client I O Setup UNIVERSAL ROBOTS Delete signal Push this button to delete a MODBUS signal from the corresponding MODBUS unit Set signal type Use this drop down menu to choose the signal type Available types are Digital input A digital input coil is a one bit quantit
59. ERSAL ROBOTS 13 4 Command Empty 13 5 Command Move 13 6 Command Fixed Waypoint 13 7 Setting the waypoint 13 8 Command Relative Waypoint 13 9 Command Variable Waypoint 13 10 Command Wait 13 11 Command Set 13 12 13 13 Command 13 14 Command Comment 13 15 Command Folder 13 16 Command Loop 13 17 Command SubProgram 13 18 Command Assignment 13 19 Command If 13 20 Command Script 13 21 Command Event 13 22 Command Thread 13 28 Command Pattern 13 24 Command Force 13 25 Command Pallet 13 26 Command Seek 13 27 Command Suppress 13 28 Graphics Tab 13 29 Structure Tab 13 30 Variables Tab wt ox d 13 31 Command Variables Initialization 14 Setup Screen 14 1 Language and Units 14 2 Update Robot 14 3 Set Password 144 Calibrate Screen 14 5 Setup Network 146 SetTime 15 Safety Configuration 15 1 Changing the Safety Configuration 15 2 Safety Synchronization and Errors 15 3 Tolerances 15 4 Safety Checksum 15 5 Safety Modes 15 6 Teach Mode I 44 II 45 II 47 I 48 II 50 II 51 I 52 II 53 1 54 0 55 II 56 I 57 II 58 II 59 Il 61 I 62 0 63 1 64 Il 65 Il 66 67 II 70 I 71 II 75 II 75 II 76 II 77 II 78 II 79 II 80 Il 81 I 82 II 83 Il 84 I 85 II 87 II 88 II 89 II 89 II 90 II 90 I 91 UR10 CB3 vi
60. Nor CB3 II 100 Version 3 0 15 11 Boundaries UNIVERSAL ROBOTS mal or Reduced mode and the movements of the robot arm are limited by the respective limit set By default the safety system is in Normal mode It transitions into Reduced mode when ever one of the following situations occurs a The robot TCP is positioned beyond some Trigger Reduced mode plane i e it is located on the side of the plane that is opposite to the direction of the small arrow in the visualization of the plane b The Reduced Mode safety input function is configured and the input signals are low see 15 12 for more details When none of the above is the case any longer the safety system transitions back to Normal mode When the transition from Normal to Reduced mode is caused by passing through a Trigger Reduced mode plane a transition from the Normal mode limit set to the Reduced mode limit set occurs As soon as the robot TCP is positioned 20 mm or closer to the Trigger Reduced mode plane but still on the Normal mode side the more permissive of the Normal and Reduced mode limits is applied for each limit value Once the robot TCP passes through the Trigger Reduced mode plane the Normal mode limit set is no longer active and the Reduced mode limit set is enforced When a transition from Reduced to Normal mode is caused by passing through a Trigger Reduced mode plane a transition from the Reduced mode limit set to the Normal mode limit
61. On screen Keyboard 11 2 On screen Keyboard abcdef lt lt Shift 3 Cancel Simple text typing and editing facilities The Shift key can be used to get some additional special characters CB3 II 12 Version 3 0 rev 15965 11 3 On screen Expression Editor UNIVERSAL ROBOTS 11 3 On screen Expression Editor True HI gt 2 gt False LO Input v zOutput v lt Variable gt v lt Pose gt v lt Function gt v B While the expression itself is edited as text the expression editor has a number of buttons and functions for inserting the special expression symbols such as for mul tiplication 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 defined variables can be found in the Variable selector while the names of the input and output ports can be found in the Input and Out put selectors Some special functions are found in Function The expression is checked for grammati
62. Pallet lt Pattern Square 9 a4th Corne ve Palletsequencd Destack amp Direction ee PickSequence File 15 43 10 CCCC Q Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Init Variables E Move Y Robot Program Move V Waypoint Here you specify how the robot should perform the movements between the waypoints below ry x Use the menu in the upper right corner to switch between various movement types The values Waypoint set under Shared Parameters apply to all waypoints below and depend on the selected movement type 9 alst Corner 9 a2nd Corne Corner 9 Approach 9 PatternPoin Set Wait 9 Exit 9 StartPos Shared Parameters FromPos Joint Speed 60 ls 9 ToPos Joint Acceleration 80 s 9 StackPos r Set Reset to defaults Ih gt ee Add Waypoint Q simulation i o Speed 00 Previous Next L2 Real Robot L Rut The Move command controls the robot motion through the underlying waypoints Waypoints have to be under a Move command The Move command defines the ac celeration and the speed at which the robot arm will move between those waypoints Movement Types It is possible to select one of three types of movements Move MoveL and MoveP each explai
63. Rename Clear Expression fod Q Simulation Speed 00 Previous Next o Real Robot 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 If the Prefers to keep value from last run checkbox is selected the variable will be initialized to the value found on the Variables tab described in 13 30 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 CB3 II 78 Version 3 0 Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Polyscope 3 0 16040 Oct 28 2014 Set Time Back Initialize Robot Goes to the initialization screen see 10 4 Language and Units Configure the language and units of measurements for the user interface see 14 1 Update Robot Upgrades the robot software to a newer version see 14 2
64. UNIVERSAL ROBOTS User Manual UR10 CB3 Original instructions en US version UNIVERSAL ROBOTS User Manual UR10 CB3 Version 3 0 Original instructions en US Version Serial number UR10 Serial number CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS The information contained herein is the property of Universal Robots A S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A S The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A S This manual is periodically reviewed and revised Universal Robots A S assumes no responsibility for any errors or omissions in this document Copyright O 2009 2014 by Universal Robots A S The Universal Robots logo is a registered trademark of Universal Robots A S UR10 CB3 ii Version 3 0 Preface ix What do the Boxes Contain 2 Important Safety Notice How to Read This Manual Where to Find More Information I Hardware Installation Manual I 1 1 Safety I 3 11 Introducion x s a w s f s r r p o b sl sl s oso os os s s s B 12 Validity and Responsibility 2 2 2 2 2 2 2 B 13 Limitation of Liability ee MMA 14 Warning Symbols in this Manual 14 15 General Warnings and Cautions
65. and instructions on how to use it can be found in the Script Manual on the support website http support universal robots com Note that only UR distributors and OEM customers have access to the website If the File option in the top left corner is choosen it is possible to create and edit script programs files This way long and complex script programs can be used to gether with the operator friendly programming of PolyScope Version 3 0 II 63 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 21 Command Event 13 21 Command Event File 15 42 36 CCCC O Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Set a Wait Waypoint Event Wait V Folder An Event is simmilar to an Interrupt however in an event the execution of the main gt program continues while the event code is being executed While the event is being executed new events will have no effect Depending on the state of the given sensor input or program variable the following lines will be executed lt Script yar 1 2 for P Call SubProgram 1 V If e e Pallet ee Pattern amp PalletSequence 9 Approach 9 PatternPoint Set Wait 9 Exit P SubProgram 1
66. and values between program runs It only appears when it has information to display The variables are ordered alphabetically by their names The variable names on this screen are shown with at most 50 characters and the values of the variables are shown with at most 500 characters Version 3 0 77 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 31 Command Variables Initialization 13 31 Command Variables Initialization File 15 42 38 CCCC Q Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Init Variables a n V Robot Program Initial Variable Values V MoveJ 9 Waypoint 9 V Moves The variable Loop 1 has no initial value Waypoint cnt_l 0 Set cnt_2 0 ce Pallet interpolate 1 0 0 Pattern Square The variable pose 1 has no initial value alst Corner The variable pose 2 has no initial value a2nd Corne The variable pose 3 has no initial value 9 9 a4th ee PalletSequence 9 Approach 9 PatternPoint Sef Wait 9 Exit ee Destack 9 3 es Direction Variable Expression 9 FromPos 9 ToPos so PickSequence 9 StackPos eset m ID The variable var 1 has no initial value z
67. are paired up so that each function is provided a Category 3 and PLd I O for safety in the event one of the I Os are to be no longer reliable Each Safety function can only control one pair of I Os Trying to select the same safety function a second time removes it from the first pair of I Os previously defined There are 3 Safety functions for input signals and 4 for output signals Input Signals For input signals the following Safety functions can be selected Emergency Stop When selected this allows the option of having an alterna tive Emergency Stop button in inclusion of the one that is on the Teach Pen dant This will provide the same functionality that the Emergency Stop button provides on the Teach Pendant when a device complying with ISO 13850 2006 is attached Reduced Mode All safety limits have two modes in which they can be applied Normal mode which specifies the default safety configuration and Reduced mode see 15 5 for more details When this input safety function is selected a low signal given to the inputs causes the safety system to transition to Reduced mode If necessary the robot arm then decelerates to satisfy the Reduced mode limit set CB3 104 Version 3 0 15 12 Safety I O UNIVERSAL ROBOTS Should the robot arm still violate any of the Reduced mode limits it performs a category 0 stop The transition back to Normal mode happens in the same manner No
68. aximum force power speed and mo mentum of the robot arm When the risk of hitting a human or colliding with a part of its environment is particularly high these settings need to be set to low values If the risk is low higher general limits enable the robot to move faster and exert more force on its environment For further details see 15 9 The Joint Limits subtab consists of joint speed and joint position limits The joint speed limits define the maximum angular velocity of individual joints and serve to further limit the speed of the robot arm The joint position limits define the allowed position range of individual joints in joint space For further details see 15 10 The Boundaries subtab defines safety planes in Cartesian space and a tool ori entation boundary for the robot TCP The safety planes can be configured either as hard limits for the position of the robot TCP or triggers for activating the Re duced mode safety limits see 15 5 The tool orientation boundary puts a hard limit on the orientation of the robot TCP For further details see 15 11 The Safety I O subtab defines safety functions for configurable inputs and outputs see 12 2 For example Emergency Stop can be configured as an input For further details see 15 12 15 1 Changing the Safety Configuration NOTE The recommended procedure for changing the safety configuration is as follows 1 Make a risk assessment 2 Adjust safety settin
69. b 4 P Call SubProgram 1 Save SubProgram Clear SubProgram V If Keep SubProgram File Updated with this Prograr v Show Subprogram Tree Track program execution Simulation M Speed 00 Previous Next 8 o Real Robot 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 Version 3 0 rev 15965 II 59 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 17 Command SubProgram Command Call SubProgram File 15 42 28 CCCC Program Installation Move VO Log lt unnamed gt Command Graphics Structure Variables Set Wait 0 01 o Exit Call Subroutine ee Destack StartPos Choose which subroutine to call at this point at the program execution ee Direction 9 FromPos SubProgram 1 ToPos ee PickSequence 9 StackPos Set Wait Waypoint Wait V Folder emp Comment Halt Popup V Loop lt empty gt Bl Script var 1 22 for P Call SubProgram 1 e V If SubProgram 1 X II Simulation rs Speed
70. blank characters When an output is selected a few options are enabled Using the check box a default value for the output can set to either low or high This means that the output will be set to this value when a program is not running If the check box is not checked the output will preserve its current state after a program ends It is also possible to specify whether an output can be controlled on the I O tab by either programmers or both operators and programmers or if it is only robot programs that may alter the output value 12 9 Installation Safety See chapter 15 12 10 Installation Variables File 154240 CCCC Program Installation Move Log TCP Configuration a i Installation Variables Mounting Setup Variable Value vh Safety Mariables MODBUS client Features Default Program Load Save Create New Variables created here are called installation variables and can be used just like nor mal program variables Installation variables are special because they keep their value even if a program is stopped and then started again and when the robot arm and or control box is powered down and powered up again Their names and values are CB3 II 26 Version 3 0 12 10 Installation Variables UNIVERSAL ROBOTS stored with the installation so it is possible to use the same variable in multiple pro grams Create
71. by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 3 Controller I O 4 3 2 4 Safeguard stop with automatic resume An example of a basic safeguard stop device is a door switch where the robot is stopped when a door is opened see illustration below This configuration is only intended for application where the operator cannot pass the door and close it behind him The configurable I O can be used to setup a reset button outside the door to reactivate robot motion Another example where automatic resume can be appropriate is when using a safety mat or a safety related laser scanner see below DANGER 1 The robot resumes movement automatically when the safe guard signal is re established Do not use this configuration if signal can be re established from the inside of the safety perime ter 4 3 2 5 Safeguard stop with reset button If the safeguard interface is used to interface a light curtain a reset outside the safety perimeter is required The reset button must be a two channel type In this example the I O configured for reset is CIO CI1 see below UR10 CB3 1 26 Version 3 0 4 3 Controller I O UNIVERSAL ROBOTS 4 3 3 General purpose digital I O This section describes the general purpose 24V I O Gray terminals and the config urable I O
72. cal errors when the Ok button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this 2 digital in 1 True and analog in 0 0 5 11 4 Pose Editor Screen On this screen you can specify target joint positions or a target pose position and orientation of the robot tool This screen is offline and does not control the robot arm directly Version 3 0 II 13 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 4 Pose Editor Screen Robot Feature AAR Mew Tool Position x 120 11 mm Y 431 76 mm um z 300 00 mm dal Rotation Vector radi v P RX 0 0012 Pe 9 RY 3 1664 RZ 0 0395 da nm Joint Positions Base 91 71 Shoulder 98 55 Elbow 36 88 o wrsti 136 04 o Wrist 2 91 39 Wrist 3 1 78 9 cancel Lg ox ele ee 1 Robot The current position of the robot arm and the specified new target position are shown in 3D graphics The 3D drawing of the robot arm shows the current position of the robot arm and the shadow of the robot arm shows the target position of the robot arm controlled by the specified values on the right hand side of the scree
73. creen The subtab s with errors are marked with a red error icon at the top Text fields containing errors are marked with a red background When errors exist and attempting to navigate away from the Installation tab a dialog appears with the following options 1 Resolve the issue s so that all errors have been removed This will be visible when the red error icon is no longer displayed next to the text Safety on the left side of the screen 2 Revert back to the previously applied Safety configuration This will disregard all changes and allow you to continue to the desired destination If no errors exist and attempting to navigate away a different dialog appears with the following options 1 Apply changes and restart the system This will apply the Safety configuration modifications to the system and restart Note This does not imply that any changes have been saved shutdown of the robot at this point will lose all changes to the robot installation including the Safety configuration 2 Revert back to the previously applied Safety configuration This will disregard all changes and allow you to continue to the desired selected destination 15 3 Tolerances In the Safety Configuration physical limits are set The input fields for these limits are excluding the tolerances where applicable tolerances are displayed next to the field Version 3 0 II 89 CB3 Copyright 2009 2014 by Universal Robots A S All rights reser
74. ction is used incorrectly it can produce a force of more than 150N The programmed force shall be taken into consideration during risk assessment File 15 42 37 CCCC Q Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Wait a V Folder Force lt empty gt Comment Feature Base Type Simple Halt Popup V Loop Bl Script yar 1 2 for P Call SubProgram 1 The program part under this force command 9 V If will be run in force mode In force mode the m combi robot will be free in the direction of the ts Pallet i iw E selected feature to apply the specified force Pattern Use the test button below in combination with Palletsequence Force 0 0 N the teach button to test the force mode 9 Approach 9 PatternPoint Set Wait 9 Exit r P SubProgram 1 Teachtest Event V Thread 1 9 Y Force 4 Il lt gt Q Simulation HM Speed 00 4 Previous IL Next o Real Robot Feature selection The Feature menu is used to select the coordinate system axes the robot will use while it is operating in force mode The features in the menu are those which have been defined in the installation see 12 12 Force mode type The are four different types of force mode each determining the way
75. d force limiting function is designed according to clause 5 10 5 UR10 CB3 1 60 Version 3 0 UNIVERSAL ROBOTS e 5 12 3 Safety rated soft axis and space limiting This safety function is one of more safety functions configurable through software A hash code is generated from the sittings of all these safety functions and is represented as a safety check identifier in the GUI ISO DTS 15066 Draft Robots and robotic devices Safety requirements for industrial robots Collaborative operation This is a Technical Specification TS under preparation A TS is not a standard The purpose of a TS is to present a set of immature requirements to see if they are useful for a given industry This TS presents technologies and force related safety limits for collaborative robots where the robot and the human work together to perform a work task Universal Robots is an active member of the international committee that develops this TS ISO TC 184 5 2 A final version might be published in 2015 ANSI RIA R15 06 2012 Industrial Robots and Robot Systems Safety Requirements This American standard is the ISO standards ISO 10218 1 see above and ISO 10218 2 combined into one document The language is changed from British English to American English but the content is the same Note that part two ISO 10218 2 of this standard is intended for the integrator of the robot system and not Universal Robots CAN CSA Z43
76. d in place Make sure the robot arm has ample space to operate freely Make sure that safety measures e g guardrail rope or safety screen have been set up around the robot operating area to pro tect both the operator and bystanders Do not wear loose clothing or jewellery when working with the robot Make sure long hair is tied back when working with the robot Never use the robot if it is damaged If the software prompts a fatal error immediately activate emer gency stop write down the conditions that led to the error find the corresponding error codes on the log screen and contact your supplier Do not connect any safety equipment to normal I O Use safety related interfaces only Make sure to use the correct installation settings e g Robot mounting angle weight in TCP TCP offset safety configura tion Save and load the installations file along with the pro gram The teach function Impedance back drive shall only be used in installations where the risk assessment allows it Tools and obstacles shall not have sharp edges or pinch points Make sure that all people keep their heads and faces outside the reach of the robot Be aware of robot movement when using the teach pendant Do not enter the safety range of the robot or touch the robot when the system is in operation UR10 CB3 I 6 Version 3 0 1 5 General Warnings and Cautions UNIVERSAL ROBOTS 11 12
77. d 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 CB3 II 72 Version 3 0 13 26 Command Seek UNIVERSAL ROBOTS Destacking File Program Installation Move I O Log 15 42 19 CCCC Q lt unnamed gt Structure Variables Command Graphics V Robot Program 9 V MoveJ 9 Waypoint V Move 9 Waypoint Set Pallet s Pattern Set Wait 9 Exit oo Destack 9 StartPos amp amp Direction Wait V Folder Comment Halt Popup V Loop Script c PalletSequence 9 Approach PatternPoini PickSequence Destack Destacking remove items one by one from a stack The stack is defined by the following of parameters s The starting position d The direction of the stack i The item thickness The next position is found when a f 1 foo Item thickness 0 0 mm Sequence before start Sequence after end Shared Parameters Tool Speed 1200 mm s 250 mm s Reset to defaults o Real Robot o Speed 100
78. e Manual with instructions for troubleshooting maintenance and repair of the robot The Script Manual for advanced users UR10 CB3 x Version 3 0 Part I Hardware Installation Manual 1 1 Introduction This chapter contains important safety information which must be read and under stood by the integrator of UR robots The first subsections in this chapter are more general and the later subsections contain more specific engineering data relevant for setting up and programming the robot It is essential that all assembly instructions and guidance provided in other chapters and parts of this manual are observed and followed Special attention shall be paid to text associated with warning symbols See Chapter 5 for detailed descriptions of the safety related functions and interfaces 1 2 Validity and Responsibility The information does not cover how to design install and operate a complete robot application nor does it cover all peripheral equipment that can influence the safety of the complete system The complete system must be designed and installed in accor dance with the safety requirements set forth in the standards and regulations of the country where the robot is installed The integrators of UR robots are responsible for ensuring that the applicable safety laws and regulations in the country concerned are observed and that any significant hazards in the complete robot application are eliminated This includes
79. e changes to the position and orientation of a feature which has been used to configure the limit the limit is not automatically updated If the CB3 102 Version 3 0 15 11 Boundaries UNIVERSAL ROBOTS feature has changed this is indicated by a A icon positioned over the feature selector Click the amp button next to the selector to update the limit with the current orientation of the feature The icon is also displayed if the selected feature has been deleted from the installation Safety mode The drop down menu on the right hand side of the Tool Boundary Properties panelis used to choose the safety mode for the tool orientation boundary The available options are Disabled The tool boundary limit is never active Normal When the safety system is in Normal mode the tool boundary limit is active Reduced When the safety system is in Reduced mode the tool boundary limit is active Normal amp Reduced When the safety system is either in Normal or Re duced mode the tool boundary limit is active The selected safety mode is indicated by an icon in the corresponding entry in the Safety Boundaries panel If the safety mode is set to Disabled no icon is shown Effect Program execution is aborted when the deviation of the tool orientation is about to exceed the entered maximum deviation minus the tolerance see 15 3 if it continues moving along the predicted trajectory Note that the minus sign displayed
80. e robot arm move vertically downwards with the object let the object loose and then move the robot arm vertically upward again Version 3 0 II 31 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 12 Installation Features The meaning of such and similar questions is very straightforward to an average cus tomer who intends to use a robot arm for instance at various stations in a production plant and it may seem annoying and incomprehensible to the customer to be told that there may not be a simple answer to such relevant questions There are several compli cated reasons for this being the case and in order to address these problems Universal Robots has developed unique and simple ways for a customer to specify the location of various objects relative to the robot arm Within a few steps it is therefore possible to do exactly what was asked for in the above questions Rename This button makes it possible to rename a feature Delete This button deletes the selected feature and if any all sub features Show Axes Choose whether the coordinate axes of the selected feature shall be visible on the 3D graphics The choice applies on this screen and on the Move screen Joggable Select whether the selected feature shall be joggable This determines whether the feature will appear in the feature menu
81. e specified address on the remote MODBUS server E4 SLAVE DEVICE FAILURE 0x04 An unrecoverable error occurred while the server or slave was attempting to perform the requested action E5 ACKNOWLEDGE 0x05 Specialized use in conjunction with programming commands sent to the remote MODBUS unit E6 SLAVE DEVICE BUSY 0x06 Specialized use in conjunction with program ming commands sent to the remote MODBUS unit the slave server is not able to respond now Show Advanced Options This check box shows hides the advanced options for each signal Advanced Options Update Frequency This menu can be used to change the update frequency of the signal This means the frequency with which requests are sent to the remote MODBUS unit for either reading or writing the signal value Slave Address This text field can be used to set a specific slave address for the requests corresponding to a specific signal The value must be in the range 0 255 both included and the default is 255 If you change this value it is recommended to consult the manual of the remote MODBUS device to verify its functionality when changing slave address CB3 II 30 Version 3 0 12 12 Installation Features UNIVERSAL ROBOTS 12 12 Installation Features File 15424 CCCC Program Installation Move 1 0 Log TCP Configuration Features Mounting Setup 9 Safety Variables MODBUS client Features Ba
82. e the con troller box is powered Always use an original and correct power cord 4 7 Robot connection The cable from the robot must be plugged into the connector at bottom of the control box see illustration below Ensure that the connector is properly locked before turning on the robot arm Disconnecting the robot cable may only be done when the robot power is turned off UR10 CB3 I 36 Version 3 0 4 7 Robot connection UNIVERSAL ROBOTS CAUTION 1 Do not disconnect the robot cable when the robot arm is turned on 2 Do not extend or modify the original cable Version 3 0 1 37 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 4 7 Robot connection UNIVERSAL ROBOTS peniesei suu S v siogou Aq v L02 6002 1 Version 3 0 1 38 UR10 CB3 UR robots are equipped with a range of built in safety related functions as well as safety related electrical interfaces to connect to other machines and additional pro tective devices Each safety function and interface is safety related according to ISO 13849 1 see Chapter 8 for certifications with Performance Level d PLd NOTE If the robot discovers a fault in the safety system e g one of the wires in the emergency stop circuit is cut or a position sensor is broken a category 0 stop is initiated The worst reaction case time from the time an error occurs to the point
83. e to change to 24V which might dam age the equipment and cause a fire NOTE The tool flange is connected to GND same as the red wire 4 4 4 Tool Digital Outputs The digital outputs are implemented as NPN When a digital output is activated the corresponding connection is driven to GND and when it is deactivated the corre sponding connection is open open collector open drain The electrical specifications are shown below UR10 CB3 1 32 Version 3 0 4 4 Tool I O UNIVERSAL ROBOTS Parameter Min Unit Voltage when open 0 5 26 V Voltage when sinking1A 0 05 020 V Current when sinking 0 1 A Current through GND 0 1 An example of how to use a digital output is shown in the following subsection CAUTION 1 The digital outputs in the tool are not current limited and over riding the specified data can cause permanent damage 4 4 1 1 Using the Tool Digital Outputs The example below 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 Keep in mind that there is voltage between the POWER connection and the shield ground even when the load is turned off 4 4 2 Tool Digital Inputs The digital inputs are implemented as PNP with weak pull down resistors This means that a floating input will always read low The electrical specifications are shown below Para
84. e used to communicate with other equipment if a common GND OV is established and if the machine uses PNP technology see below Digital Inputs Digitaf Outputs i igital Inputs Digital Outputs 24v m 24v ov ov 24 2av m ov ovim DIO W DI4 boo Do4 A B pio poo m 24 m 24v m m 24v W 22 ov ov m 1 015 8 DO5 NI 1 015 8 E 24V 24v OV E B 24V W 24V M Ov OV DI2 W 016 DO2 I NI DI2 M 016 2 24V W 24V W ov IL NI 24V W 24V OV BI OV I 017 DI3 I DI7 N M 4 3 6 General purpose analog I O The analog I O interface is the green terminal It can be used to set or measure voltage 0 10V or current 4 20mA from and to other equipment The following is recommended to achieve a high accuracy Use the AG terminal closest to the I O The pair share a common mode filter Use the same gnd 0V for equipment and control box The analog I O is not galvanically isolated from the control box Use a shielded cable or twisted pairs Connect the shield to the GND terminal at the terminal called Power Use of equipment that works in current mode Current signals are less sensitive to interfe
85. ed screw connections marked with earth symbols inside the control box The grounding con ductor shall have at least the current rating of the highest cur rent in the system 4 Care must be taken when installing interface cables to the robot I O The metal plate in the bottom is intended for interface ca bles and connectors Remove the plate before drilling the holes Make sure that all shavings are removed before reinstalling the plate Remember to use correct gland sizes CAUTION 1 The robot has been tested according to international IEC stan dards for EMC ElectroMagnetic Compatibility Disturbing sig nals with levels higher than those defined in the specific IEC standards can cause unexpected behavior of the robot Very high signal levels or excessive exposure can damage the robot permanently EMC problems are found to happen usually in welding processes and are normally prompted by error mes sages in the log Universal Robots cannot be held responsible for any damages caused by EMC problems 2 I O cables going from the control box to other machinery and factory equipment may not be longer than 30m unless extended tests are performed UR10 CB3 1 20 Version 3 0 4 3 Controller I O UNIVERSAL ROBOTS NOTE All voltages and currents are in DC Direct Current unless otherwise specified 4 3 Controller I O This chapter explains how to connect equipment to I O inside the control box This I O is extremely
86. een Injection Molding Machine and Handling Device Robot UR robots equipped with the E67 accessory module to interface injection molding machines comply with this standard UR10 CB3 I 64 Version 3 0 D Technical Specifications Weight 28 9 kg 63 7 Ib Reach 1300 mm 51 2in Speed Joint Max 120 180 5 Tool Approx 1 Approx 39 4 irs Footprint 0190 mm 7 5in Control box size W x H x D 475mm x 423mm x 268 mm 18 7 in x 16 7in x 10 6in I O power supply 24V 2A in control box and 12 V 24 V 600 mA in tool Programming PolyScope graphical user interface on 12 touchscreen with mounting IP classification IP54 Collaboration operation Collaborative operation according to ISO 10218 1 2011 Power supply 100 240 VAC 50 60 Hz Cabling Cable between robot and control box 6m 236 in Cable between touchscreen and control box 4 5 m 177 in Version 3 0 rev 15965 1 65 UR10 CB3 UNIVERSAL ROBOTS peniesei suu S v 510 Aq v L02 6002 1 Version 3 0 I 66 UR10 CB3 Part II PolyScope Manual The Universal Robot arm is composed of extruded aluminum tubes and joints The joints with their usual names are shown in Figure 10 1 The Base is where the robot is mounted and at the other end Wrist 3 the tool of the robot is attached By coordi nating the motion of each of the joints the robot can move its tool around freely with the excep
87. eration 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 The settings of the Shared Parameters of a Move command apply to the path from the robot arm 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 13 6 Command Fixed Waypoint Q File 15 4316 CCCC Program Installation Move 0 Log lt unnamed gt Command Graphics Structure Variables Init Variables V Robot Program 9 V Move Waypoint 1 Rename Fixed position Waypoint V Move Move robot here e Waypoint 1 Set Pallet 9 amp Pattern qud alst Cornel a a2nd Z 9 a3rd Corner 9 a4th_Cornen 4 PalletSequence Approach 9 PatternPoin Set Show advanced options Wait 9 Exit oe Destack 9 StartPos stop at this point 5 Blend with radius 9 FromPos Change this Waypoint ToPos 4 PickSequence 9 StackPos Add waypoint before e Set EN ew il er Add waypoint after Remove this waypoint Q Simulation MA Speed 00 4 Previous Next gt o Real Robot
88. ersal Robots A S All rights reserved If U UNIVERSAL ROBOTS 5 1 Limiting Safety related Functions Figure 5 1 Certain areas of the workspace should receive attention regarding pinching hazards due to the physical properties of the robot arm One area is defined for radial motions when the wrist 1 joint is at a distance of at least 1100 mm from the base of the robot The other area is within 300 mm of the base of the robot when moving in the tangential direction Worst Case Limiting Safety Trueness Detection De energizing Reaction Time Function Time Time Joint position 1 15 100 ms 1000 ms 1100 ms Joint speed 1 15 s 250 ms 1000 ms 1250 ms TCP position 20mm 100 ms 1000 ms 1100 ms TCP orientation 1 15 100 ms 1000 ms 1100 ms TCP speed 50 mm s 250 ms 1000 ms 1250 ms TCP force 25N 250 ms 1000 ms 1250 ms Momentum 3kgm s 250 ms 1000 ms 1250 ms Power 10W 250 ms 1000 ms 1250 ms The system is considered de energized when the 48 V bus voltage reaches an electrical potential below 7 3 V The de energizing time is the time from a detection of an event until the system has been de energized UR10 CB3 1 40 Version 3 0 rev 15965 5 2 Safety Modes UNIVERSAL ROBOTS WARNING There are two exceptions to the force limiting function that are impor tant to notice when designing the work cell for the robot These are illustrated in Figure 5 1 As the robot stretches out the knee joint ef fect can give
89. erved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS Where to Find More Information Cable for connecting the robot arm and the control box Mains cable compatible with your region Tool cable Stylus pen with laser UR production test certificate e This manual Important Safety Notice The robot is partly completed machinery see 8 2 and as such a risk assessment is re quired for each installation of the robot It is particularly important that all of the safety instructions in chapter 1 are followed How to Read This Manual This manual contains instructions for installing and using the robot It consists of the following parts Hardware Installation Manual The mechanical and electrical installation of the robot PolyScope Manual Programming of the robot This manual is intended for the integrator who is expected to have a basic level of mechanical and electrical training It is also helpful though not necessary to be famil iar with elementary concepts of programming No special knowledge about robots in general or Universal Robots in particular is required Where to Find More Information The support website http support universal robots com available to all UR distributors contains additional information such as Other language versions of this manual PolyScope Manual updates after the PolyScope is upgraded to a new version The Servic
90. erved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 10 1 Getting Started Figure 10 1 Joints of the robot A Base B Shoulder C Elbow and D E Wrist 1 2 3 10 1 2 Turning the Control Box On and Off The control box is turned on by pressing the power button at the front side of the panel with the touch screen This panel is usually referred to as the teach pendant When the control box is turned on text from the underlying operating system will appear on the touch screen After about one minute a few buttons appear on the screen and a popup guides the user to the initialization screen see 10 4 To shut down the control box press the green power button on the screen or use the Shut Down button on the welcome screen see 10 3 WARNING Shutting down by pulling the power cord from the wall socket may cause corruption of the robot s file system which may result in robot malfunction 10 1 3 Turning the Robot Arm On and Off The robot arm can be turned on if the control box is turned on and if no emergency stop button is activated Turning the robot arm on is done in the initialization screen see 10 4 by touching the ON button on that screen and then pressing Start When a robot is started it makes a sound and moves a little while releasing the brakes The power to the robot arm can be turned off by touching the OFF button on the ini tialization screen The robot ar
91. erved UNIVERSAL ROBOTS 10 4 Initialization Screen Similarly the name of the installation file that is currently loaded is shown in the grey text field A different installation can be loaded by tapping the text field or by using the Load button next to it Alternatively the loaded installation can be customized using the buttons next to the 3D view in the lower part of the screen Before starting up the robot arm it is very important to verify that both the active payload and the active installation correspond to the actual situation the robot arm is currently in Initializing the robot arm DANGER Always verify that the actual payload and installation are correct be fore starting up the robot arm If these settings are wrong the robot arm and control box will not function correctly and may become dan gerous to people or equipment around them CAUTION Great care should be taken if the robot arm is touching an obstacle or table since driving the robot arm into the obstacle might damage a joint gearbox The large button with the green icon on it serves to perform the actual initialization of the robot arm The text on it and the action it performs change depending on the current state of the robot arm After the controller PC boots up the button needs to be tapped once to power the robot arm on The robot arm state then turns to Power on and subsequently to Idle Note that when an emergency stop is in place the r
92. erved UNIVERSAL ROBOTS 13 26 Command Seek 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 speed and accelerations need to be given for the movement involved in the stack operation Stacking File 15 42 18 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables V Robot Program E V Move e Waypoint Select Seek Type V Move Waypoint A seek operation is given by a 5et starting position s and a direction d oe Pallet ee Pattern so PalletSequence Approach Please select between stacking and destacking 9 PatternPoint Set E Wait 9 Exit Seek Stacking Destacking Wait 9 V Folder Corn nent Halt Popup oj TE Loop Pcr P Jh Ii P call V If li 1 lt gt o Speed 0 0 Previous Jl Next 8 o Real Robot When stacking the robot arm 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 an
93. es 1 Making the robot arm 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 arm smooth and precise motions and to make the robot arm hold itself when in Teach mode For this reason it is very important that the mounting of the robot arm be set correctly CB3 II 24 Version 3 0 12 8 Installation I O Setup UNIVERSAL ROBOTS WARNING Failure to set robot arm s mounting correctly might result in frequent protective stops and or a possibility that the robot arm will move when the teach button is pressed The default is that the robot arm is mounted on a flat table or floor in which case no change is needed on this screen However if the robot arm is ceiling mounted wall mounted or mounted at an angle this needs to be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot arm 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 angle The buttons on the lower part of the screen are used to rotate the mounting of the robot arm to match the actual mounting WARNING Make sure to use the correct installation settings Save and load the installation files along with the program 12 8 Installation I O Setup
94. eturned according to the service man ual 6 1 Safety Instructions After maintenance and repair work checks must be carried out to ensure the required safety level The valid national or regional work safety regulations must be observed for this check The correct functioning of all safety functions shall also be tested The purpose of maintenance and repair work is to ensure that the system is kept op erational or in the event of a fault to return the system to an operational state Repair work includes troubleshooting in addition to the actual repair itself The following safety procedures and warnings must be observed when working on the robot arm or control box DANGER 1 Do not change anything in the safety configuration of the soft ware e g the force limit The safety configuration is described in the PolyScope Manual If any safety parameter is changed the complete robot system shall be considered new meaning that the overall safety approval process including risk assess ment shall be updated accordingly 2 Replace faulty components using new components with the same article numbers or equivalent components approved by Universal Robots for this purpose Copyright 2009 2014 by Universal Robots A S All rights reserved 3 Reactivate any deactivated safety measures immediately after the work is completed 4 Document all repairs and save this documentation in the tech nical file associated with
95. ety mode that is active by default Reduced mode Active when the robot TCP is positioned beyond a Trigger Reduced mode plane see 15 11 or when triggered using a configurable input see 15 12 Recovery mode When the robot arm is in violation of one of the other modes i e Nor mal or Reduced mode and a category 0 stop has occurred the robot arm will start up in Recovery mode This mode allows the robot arm to be manually adjusted until all violations have been resolved It is not possible to run programs for the robot in this mode CB3 II 90 Version 3 0 15 6 Teach Mode UNIVERSAL ROBOTS WARNING Note that limits for joint position TCP position and TCP orientation are disabled in Recovery mode so take caution when moving the robot arm back within the limits The subtabs of the Safety Configuration screen enable the user to define separate sets of safety limits for Normal and Reduced mode For the tool and joints Reduced mode limits regarding speed and momentum are required to be more restrictive than their Normal mode counterparts When a safety limit from the active limit set is violated the robot arm performs a cate gory 0 stop If an active safety limit such as a joint position limit or a safety boundary is violated already when the robot arm is powered on it starts up in Recovery mode This makes it possible to move the robot arm back within the safety limits While in Recovery mode the movement of the r
96. execution Stops Pauses Robot power Off On Reset Manual Automatic or manual Frequency of use Infrequent Every cycle to infrequent Requires re initialization Brake release only No Stop category IEC 60204 1 2 Performance level ISO 13849 1 PLd PLd It is possible to use the configurable I O to set up additional safety I O functionality e g emergency stop output Configuring a set of configurable I O for safety functions are done through the GUI see part II Some examples of how to use safety I O are shown in the following subsections DANGER 1 Never connect safety signals to a PLC which is not a safety PLC with the correct safety level Failure to follow this warn ing could result in serious injury or death as one of safety stop functions could be overridden It is important to keep safety in terface signals separated from the normal I O interface signals 2 All safety related I O are constructed redundantly Two inde pendent channels Keep the two channels separate so that a single fault cannot lead to loss of the safety function 3 Safety functions must be verified before putting the robot into operation Safety functions must be tested regularly 4 The robot installation shall conform to these specifications Fail ure to do so could result in serious injury or death as the safety stop function could be overridden 4 3 2 1 Default safety configuration The robot is shipped with a default configuration which e
97. f motions and actions at o PatternPoint several different positions This can be useful for palletizing or similar operations A pallet Sor operation consist of the following features Wait 0 01 A Program Sequence to be performed at several positions 9 Exit The Pattern either given as a list or as a lattice 9 amp Destack An optional before start sequence that will be performed before the first position StartPos An optional after end sequence that will be performed after the last position amp amp Direction 9 FromPos 9 ToPos ee PickSequence 9 StackPos Set Wait Waypoint Wait 9 V Folder Comment Halt Popup V Loop n Script j Optional program sequences 1 2 C Special program sequence before the first point lt gt Special program sequence after the last point e L Previous Next o Real Robot hed Lau speed l 2 A pallet operation can perform a sequence of motions in a set of places given as a pattern as described in 13 23 At each of the positions in the pattern the sequence of motions will be run relative to the pattern position CB3 II 70 Version 3 0 13 26 Command Seek 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 se quence describes what should be done at each pattern position 3
98. ffect CB3 II 80 Version 3 0 14 2 Update Robot UNIVERSAL ROBOTS 14 2 Update Robot Setup Robot Update robot software Initialize Robot Language and Units Search Update Robot Set Password Click Search to download a list of possible updates for this robot Calibrate Screen Description Setup Network Set Time Back Software updates can be installed from USB flash memory Insert an USB memory stick and click Search to list its contents To perform an update select a file click Update and follow the on screen instructions WARNING Always check your programs after a software upgrade The upgrade might change trajectories in your program The updated software specifications can be found by pushing the button located at the top right corner of the GUI Hardware specifications remain the same and can be found in the original manual Version 3 0 II 81 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 3 Set Password 14 3 Set Password Setup Robot Initialize Robot Language and Units Update Robot Set Password Calibrate Screen Setup Network Set Time Back Change System Password Passwords ensure changes to the rob
99. fingers between robot foot and base joint 0 Entrapment of fingers between wrist 1 and wrist 2 joint 3 and joint 4 Penetration of skin by sharp edges and sharp points on tool or tool connector A N e Penetration of skin by sharp edges and sharp points on obstacles near the robot track Bruising due to stroke from the robot 6 Sprain or bone fracture due to strokes between a heavy payload and a hard sur face 7 Consequences due to loose bolts that hold the robot arm or tool 8 Items falling out of tool e g due to a poor grip or power interruption 9 Mistakes due to different emergency stop buttons for different machines Information on stopping times and stopping distances are found in appendix A 1 8 Emergency Stop Activate the emergency stop button to immediately stop all robot motion Emergency stop shall not be used as a risk reduction measure but as a secondary protective device The risk assessment of the robot application shall conclude if more emergency stop buttons must be connected Emergency stop buttons should comply with IEC 60947 5 5 see more in section 4 3 2 Version 3 0 1 9 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 1 9 Movement Without Drive Power 1 9 Movement Without Drive Power In the unlikely event of an emergency situation where o
100. flexible and can be used for wide range of different equipment in cluding pneumatic relays PLCs and emergency stop buttons The illustration below shows the layout of electrical interface inside the control box Digital Inputs Digital Outputs 24V 24V ov OV DIO 014 DO4 24V 24V ov OV DI1 DI5 DO1 DOS 24V 24V ov OV DI2 016 002 DO6 24V 24V ov OV DI3 DI7 The meaning of the different colors must be observed see below Yellow with red text Dedicated safety signals Yellow with black text Configurable for safety Gray with black text General purpose digital I O Green with black text General purpose analog I O The configurable I O can be configured as either safety related I O or general pur pose I O in the GUI See more in part II How to use the digital I O is described in the following subsections The section describing the common specifications must be observed 4 3 1 Common specifications for all digital I O This section define electrical specifications for the following 24V digital I O of the control box Safety I O Configurable I O General purpose I O Itis very important that UR robots are installed according the electrical specifications which are the same for all three different kinds of inputs Version 3 0 1 21 UR10 CB3 Copyright 2009 2014 by Universal Robot
101. g braking At time 0 an event emergency stop or safeguard stop is detected at the safety processor Deceleration begins after 24 ms on the safeguard reset input occurs If any of the above properties are not satisfied the safety system issues a category 0 stop A transition to Reduced mode triggered by the reduced mode input is monitored as follows 1 The safety system accepts both Normal and Reduced mode limit sets for 500 ms after the reduced mode input is triggered 2 After 500 ms only the Reduced mode limits are in effect If any of the above properties is not satisfied the safety system issues a category 0 stop A category 0 stop is performed by the safety system with the performance described in the following table The worst case reaction time is the time to stop and to de energize discharge to an electrical potential below 7 3 V a robot running at full speed and payload Worst Case Safety Input Function Detection De energizing Reaction Time Time Time Robot emergency stop 250 ms 1000 ms 1250 ms Emergency stop button 250 ms 1000 ms 1250 ms System emergency stop 250 ms 1000 ms 1250 ms Safeguard stop 250 ms 1000 ms 1250 ms Safeguard reset input 250 ms 1000 ms 1250 ms Reduced mode 250 ms 1000 ms 1250 ms 5 3 2 Safety related Electrical Outputs The table below gives an overview of the safety related electrical outputs Version 3 0 1 43 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights
102. ght 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 12 Safety I O CB3 II 108 Version 3 0 Version 3 0 rev 15965 109
103. ghts reserved 44 4 41 Tool Digital Outputs 44 2 Tool Digital Inputs 4 4 3 Tool Analog Inputs 45 Ethernet 4 6 Mains connection 47 Robot connection Safety related Functions and Interfaces 5 1 Limiting Safety related Functions 5 2 Safety Modes idee uw 53 Safety related Electrical Interfaces 5 3 1 Safety related Electrical Inputs 5 3 2 Safety related Electrical Outputs Maintenance and Repair 6 1 Safety Instructions Disposal and Environment Certifications 8 1 Third Party Certifications PEE 8 2 Declarations According to EU directives Warranties 91 Product Warranty 9 2 Disclaimer Stopping Time and Stopping Distance CATEGORY 0 stopping distances and times Declarations and Certificates B 1 Declaration of Incorporation original B 2 Safety System Certificate Environmental Test Certificate 4 EMC Test Certificate Applied Standards Technical Specifications PolyScope Manual Introduction 10 1 Getting Started 10 1 1 Installing the Robot Arm and Control Box I 31 I 32 1 33 1 34 1 35 1 35 1 36 I 39 1 39 1 41 1 42 1 42 1 43 1 45 1 45 1 47 1 49 1 49 1 49 1 51 1 51 1 51 1 53 1 53 1 55 1 55 1 56 1 57 1 58 I 59 II 3 3 3 UR10 CB3 iv Version 3 0 UNIVERSAL ROBOTS 10 1 2 Turning the Control Box On and Off II 4 10 1 3 Turning the Robot Arm On and Off II 4
104. gram I Installation Move I O Log 15 43 16 CCCC O lt unnamed gt Init Variables V Robot Program V Move Waypoint 9 V MoveJ Waypoint 1 Set amp Pallet o Pattern Square 9 alst Corner 9 a2nd Corne ee PalletSequence Approach 9 PatternPoint Set Wait 9 Exit eo Destack 9 StartPos amp Direction 9 FromPos 9 ToPos so PickSequence 9 StackPos e Set 9 a4th Cornen J I il Il Command Graphics Structure Variables Waypoint 1 Rename Relative Motion given by the difference between from and to positions From point To point Set this point Move robot here Distance 0 0 mm Set this point Move robot here Add waypoint before Relative position w Angle 179 1 Add waypoint after Remove this waypoint Q simulation o Real Robot Speed 100 Previous Next gt A waypoint with the position given relative to the robot arm s previous position such as two centimeters to the left The relative position is defined as the difference be tween the two given positions left to right Note that repeated relative positions can move the robot arm out of its workspace The distance here is the Cartesian di
105. gs to the appropriate level refer to relevant directives and standards from our manual on how to set the safety limits 3 Test the setting on the robot 4 Put the following text in the operators manuals Before work ing near the robot make sure that the safety configuration is as expected This can be verified e g by inspecting the checksum in the top right corner of the PolyScope see 15 4 in the PolyScope Manual CB3 II 88 Version 3 0 15 2 Safety Synchronization and Errors UNIVERSAL ROBOTS 15 2 Safety Synchronization and Errors The state of the applied Safety configuration in comparison to what robot installation the GUI has loaded is depicted by the shield icon next to the text Safety on the left side of the screen These icons provide a quick indicator to the current state They are defined below Configuration Synchronized Shows the installation is identical to the currently applied Safety configuration No changes have been made Configuration Altered Shows the GUI installation is different from the currently applied Safety configuration When editing the Safety configuration the shield icon will inform you whether or not the current settings have been applied If any of the text fields in the Safety tab contain any invalid input the Safety config uration is in an error state This is indicated in several ways Ared error icon is displayed next to the text Safety on the left side of the s
106. h the robot arm standing still there will be no compliant axes until the TCP speed is above zero If later on while still in force mode the robot arm is again standing still the task frame has the same orientation as the last time the TCP speed was larger than zero For the last three types the actual task frame can be viewed at runtime on the graphics tab 13 28 when the robot is operating in force mode Force value selection A force can be set for both compliant and non compliant axes but the effects are dif ferent Compliant The robot arm will adjust its position to achieve the selected force Non compliant The robot arm will follow its trajectory set by the program while accounting for an external force of the value set here For translational parameters the force is specified in Newtons N and for rotational the torque is specified in Newton meters Nm Limits selection For all axes a limit can be set but these have different meaning corresponding to the axes being complian or non compliant e Compliant The limit is the maximum speed the TCP is allowed to attain along about the axis Units are mm s and deg s Version 3 0 II 69 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 25 Command Pallet Non compliant The limit is the maximum deviation from the program trajector
107. he hazardous traditional robots UR robots are designed to work without a fence using a built in power and force limiting safety function where there is no hazardous safeguarded space defined by the perimeter of a fence 5 4 2 Performance requirement All safety functions are constructed as PLd according to ISO 13849 1 2006 The robot is constructed with redundant encoder systems in each joint to form a category 3 structure and the safety rated I Os are redundant to form a category 3 structure The safety rated I Os must be connected according to this manual to category 3 safety rated equipment to form a full category 3 structure of the complete safety function 5 7 Operating modes UR robots do not have different operating modes and therefore they do not have a mode selector 5 8 Pendant controls This section defines protective features for the teach pendant when it is to be used within a hazardous safeguarded space Since UR robots are power and force limited there is no hazardous safeguarded space like with traditional robots UR robots are safer to teach than traditional robots Instead of having to release a three positioning enabling device the operator can simply stop the robot with his hand 5 10 Collaborative operation requirements The power and force limiting function of UR robots is always active The visual design of the UR robots indicates that the robots are capable of being used for collaborative operations The power an
108. he installation a floppy disk icon is shown next to the CB3 II 22 Version 3 0 12 6 Installation TCP Configuration UNIVERSAL ROBOTS Load Save text on the left side of the Installation tab Saving an installation can be done by pressing the Save or Save As button Al ternatively saving a program also saves the active installation To load a different in stallation file use the Load button The Create New button resets all of the settings in the Robot Installation to their factory defaults CAUTION As button Using the robot with an installation loaded from a USB drive is not recommended To use an installation stored on a USB drive first load it and then save it in the local programs folder using the Save 12 6 Installation TCP Configuration File Program Installation Move 1 0 Log 15 42 38 CCCC Q TCP Configuration Mounting Setting the Tool Center Point TCP Coordinates Setup X 0 0 mm 9 Safety Variables E MODBUS client zi 0 0 mm Features Default Program Load Save Fit program to new TCP Setup for the Tool Center Point The payload at the TCP is 0 00 2 77 BZR Change motions Change graphics The Tool Center Point TCP is the point at the end of the robot arm that gives a char acteristic point on the robot s tool When the robot arm moves linearly it is this point that
109. he y axis is directed from the first point towards the second The positive direction of the z axis is set so that the angle between the z axis of the plane and the z axis of the first point is less than 180 degrees CB3 II 34 Version 3 0 12 13 Installation Default Program UNIVERSAL ROBOTS 9 File 15 43 06 CCCC Program Installation Move TCP Configuration 1 guration blane 1 Mounting Setup 9 Safety Variables MODBUS client Features Base Tool Plane 1 X Point 1 X Point 2 X Point 3 Default Program fl Load Save Show axes Move robot here v Joggable Variable 12 13 Installation Default Program File 15 42 42 CCCC Q Program Installation Move I O Log TCP Configuration Set Default Program Mounting Setup Default Program File I A Safety Automatically load a default program when the robot is turned on Variables Load default program MODBUS client No Program Selected TERTE Select Default Program Default Program If the Auto Initialize option below is enabled too the robot can start moving on A power up Load Save Auto Start the default program in the Run Tab On edge to Auto Initialize Automatically initialize the robot when the main power is turned on The robot can move due to the
110. high forces in the radial direction away from the base but at the same time low speeds Similarly the short leverage arm when the tool is close to the base and moving tangential around the base can cause high forces but also at low speeds Pinching haz ards can be avoided for instance by removing obstacles in these ar eas placing the robot differently or by using a combination of safety planes and joint limits to remove the hazard by preventing the robot moving into this region of its workspace 5 2 Safety Modes Normal and Reduced mode The safety system has two configurable safety modes Normal and Reduced Safety limits can be configured for each of these two modes Reduced mode is active when the robot TCP is positioned beyond a Trigger Reduced mode plane or when triggered by a safety input On the side of the Trigger Reduced mode planes where the normal mode limit set is defined there is an area of 20 mm where the reduced mode limit set is accepted When Reduced mode is triggered by a safety input both limit sets are accepted for 500 ms Recovery Mode When safety limit is violated the safety system must be restarted If the system is outside a safety limit at start up e g outside a joint position limit the special Recovery mode is entered In Recovery mode it is not possible to run programs for the robot but the robot arm can be manually moved back within limits either by using Teach mode or by using the Move tab i
111. hit a human Restricted Intended to be used where there is a big risk of the robot arm or its payload hitting a human and the robot arm along with its payoad has no sharp edges Default Intended to be used where people are aware of the robot arm and its payload and or when application has no sharp edges and no pinching hazards Least restricted Intended to be used where there is little risk of the robot arm or its payload hitting a human such as 1 Inside CNC machines 2 behind fences 3 hard to reach places Advanced Settings r Unlock Lock Apply Safety password WARNING 1 A risk assessment is always required 2 All safety settings accessible on this screen and its subtabs are required to be set according to the risk assessment 3 The integrator is required to ensure that all changes to the safety settings are done in agreement with the risk assessment The safety settings consist of a number of limit values used to constrain the move Version 3 0 II 87 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 1 Changing the Safety Configuration ments of the robot arm and of safety function settings for the configurable inputs and outputs They are defined in the following subtabs of the safety screen The General Limits subtab defines the m
112. if the waypoint has a blend radius the following I O command is executed when the robot arm enters the blend CB3 II 48 Version 3 0 13 7 Setting the waypoint UNIVERSAL ROBOTS Example Starting point movel Straieht li WaypointStart traight line segment Waypoint Waypoint2 if digital_input 1 then Waypoint 1 WaypointEndl 5 cm blend else WaypointEnd2 Straight line segment endif This is where the input Waypoint 2 port is read 10 cm blend Ending point 2 Ending point 1 A small example in which a robot program moves the tool from a starting position 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 arm 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 select the right blend path Version 3 0 49 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 8 Command Relative Waypoint 13 8 Command Relative Waypoint File Pro
113. imum Connection to earth Main fuse Residual current device It is recommended to install a main switch to power of all equipment in the robot application as an easy means for lockout and tagout under service The electrical specifications are shown in the table below Version 3 0 1 35 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 7 Robot connection Parameter Min Typ Unit Input voltage 100 s 240 VAC External mains fuse 100 200V 15 16 A External mains fuse 200 240V 8 16 A Input frequency 47 63 Hz Stand by power 0 5 Nominal operating power 90 250 500 W DANGER 1 Make sure that the robot is grounded correctly Electrical con nection to earth Use the unused bolts associated with ground ing symbols inside the controller box to create common ground ing of all equipment in the system The grounding conductor shall have at least the current rating of the highest current in the system Make sure that the input power to the controller box is protected with a RCD Residual Current Device and a correct fuse Lockout and tagout all power for the complete robot installation during service Other equipment shall not supply voltage to the robot I O when the system is locked out Make sure that all cables are connected correctly befor
114. in which the selected feature will be interpreted II 68 Version 3 0 13 24 Command Force UNIVERSAL ROBOTS Simple Only one axis will be compliant in force mode The force along this axis is adjustable The desired force will always be applied along the z axis of the selected feature However for Line features it is along their y axis Frame The Frame type allows for more advanced usage Here compliance and forces in all six degrees of freedom can be independently selected Point When Point is selected the task frame has the y axis pointing from the robot TCP towards the origo of the selected feature The distance between the robot TCP and the origo of the selected feature is required to be at least 10 mm Note that the task frame will change at runtime as the position of the robot TCP changes The x and z axis of the task frame are dependent on the original orien tation of the selected feature Motion Motion means that the task frame will change with the direction of the TCP motion The x axis of the task frame will be the projection of the TCP move ment direction onto the plane spanned by the x and y axis of the selected feature The y axis will be perpendicular to the robot arm s motion and in the x y plane of the selected feature This can be usefull when deburring along a complex path where a force is needed perpendicular to the TCP motion Note when the robot arm is not moving If force mode is entered wit
115. into Reduced mode If a safety plane has been selected in the panel on the left side of the tab the corresponding 3D representation is highlighted The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When a plane or the tool orientation boundary limit is configured but not active the visualization is gray Push the magnifying glass icons to zoom in out or drag a finger across to change the view 15 11 3 Safety plane configuration The Safety Plane Properties section at the bottom of the tab defines the config uration of the selected safety plane in the Safety Boundaries panel in the upper left portion of the tab CB3 II 98 Version 3 0 15 11 Boundaries UNIVERSAL ROBOTS Q File 15 43 30 CCCC Program Installation Move Log Per Cantiguratian Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 Setup Safety Boundaries 3D View O safety Safety plane 0 88 Variables Safety plane 1 O MODBUS client seal Lap Safety plane 3 Features i Safety plane 4 Default Program Safety plane 5 Load Save x e et ety plane 7 Tool Boundary GJ Safety Plane Prope
116. ion 3 0 1 59 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS a controlled stop with power to the motors to achieve the stop and then removal of power when the stop is achieved ISO 12100 2010 EN ISO 12100 2010 E 2006 42 EC Safety of machinery General principles for design Risk assessment and risk reduction UR robots are evaluated according to the principles of this standard ISO 10218 1 2011 EN ISO 10218 1 2011 E 2006 42 EC Robots and robotic devices Safety requirements for industrial robots Part 1 Robots This standard is intended for the robot manufacturer not the integrator The second part ISO 10218 2 is intended for the robot integrator as it deals with the installation and design of the robot application The writers of the standard implicitly envisioned traditional industrial robots which are traditionally safe guarded by fences and light curtains UR robots are designed with force and power limiting enabled at all times Therefore some concepts are clarified and explained below If a UR robot is used in a hazardous application additional safety measures might be required see chapter 1 Clarification 3 24 3 Safeguarded space is defined by the perimeter safeguarding Typically the safeguarded space is a space behind a fence which protects people from t
117. ive shall only be used in installations where the risk assessment allows it Tools and obstacles shall not have sharp edges or pinch points Make sure that all personnel remain outside the reach of the robot arm 12 2 Tab File 15 43 08 CCCC Program Installation Move 1 0 Log Robot MODBUS client Digital Input Tool Input 00 04 Digital 1 5 go 2 6 o1 30 907 Analog input analog in 2 analog in 0 analog in 1 0 000 V Voltage 0 000 V Voltage 0 000 V voltage v TEBAH ov lov ov lov 0 000 V voltage Y Digital Output Tool Output 4 Digital 19195 29 956 1 30 7 Analoa output Voltage Current analog out 0 analog out 1 Current SSS current X q 4mA 20mA 4mA 20mA 2S de d Q simulation o Real Robot On this screen you can always monitor and set the live I O signals from to the robot control box 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 Version 3 0 rev 15965 II 19 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S
118. iversal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS A 1 CATEGORY 0 stopping distances and times UR10 CB3 I 54 Version 3 0 B 1 CE Declaration of Incorporation original According to European directive 2006 42 EC annex II 1 B The manufacturer Universal Robots A S Energivej 25 5260 Odense S Denmark 45 8993 8989 hereby declares that the product described below Industrial robot UR10 Robot serial number Control box serial number may not be put into service before the machinery in which it will be incorporated is declared to comply with the provisions of Directive 2006 42 EC as amended by Directive 2009 127 EC and with the regulations transposing it into national law The safety features of the product are prepared for compliance with all essential requirements of Directive 2006 42 EC under the correct incorporation conditions see product manual Compliance with all essential requirements of Directive 2006 42 EC relies on the specific robot installation and the final risk assessment Relevant technical documentation is compiled according to Directive 2006 42 EC annex VII part B Additionally the product declares in conformity with the following directives according to which the prod uct is CE marked 2006 95 EC Low Voltage Directive LVD 2004 108 EC Electromagnetic Compatibility Directive EMC 2011 65 EU Rest
119. ives EU declarations are primarily relevant for European countries However some coun tries outside Europe recognize or even require them too European directives are available from the official homepage http eur lex europa eu UR robots are certified according to the directives listed below 2006 42 EC Machinery Directive MD UR Robots partly completed machinery according to the Machinery Directive 2006 42 EC Note that a CE mark is not affixed according to this directive for partly completed ma chinery If the UR robot is used in a pesticide application then note the presence of directive 2009 127 The declaration of incorporation according to 2006 42 EC an nex II 1 B is shown in appendix B Version 3 0 1 49 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 8 2 Declarations According to EU directives 2006 95 EC Low Voltage Directive LVD 2004 108 EC Electromagnetic Compatibility EMC 2011 65 EU Restriction of the use of certain Hazardous Substances RoHS 2012 19 EU Waste of Electrical and Electronic Equipment WEEE Declarations of conformity with the above Directives are included in the declaration of incorporation in appendix B A CE mark is affixed according to CE marking directives above Regarding waste of electric and electronic equipment see cha
120. keyboard the user can give the signal a name This name is used when the signal is used in programs Signal value Here the current value of the signal is shown For register signals the value is ex pressed as an unsigned integer For output signals the desired signal value can be set using the button Again for a register output the value to write to the unit must be supplied as an unsigned integer Version 3 0 29 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 11 Installation MODBUS client I O Setup Signal connectivity status This icon shows whether the signal can be properly read written green or if the unit responds unexpected or is not reachable gray If a MODBUS exception response is received the response code is displayed The MODBUS TCP Exception responses are E1 ILLEGAL FUNCTION 0x01 The function code received in the query is not an allowable action for the server or slave E2 ILLEGAL DATA ADDRESS 0x02 The function code received in the query is not an allowable action for the server or slave check that the entered signal address corresponds to the setup of the remote MODBUS server E3 ILLEGAL DATA VALUE 0x03 A value contained in the query data field is not an allowable value for server or slave check that the enterd signal value is valid for th
121. l Robots A S All rights reserved UNIVERSAL ROBOTS 9 2 Disclaimer takes no responsibility for any errors or missing information UR10 CB3 1 52 Version 3 0 The information about stopping times and distances is available for both CATEGORY 0 and CATEGORY 1 stops This appendix includes the information regarding stop CATEGORY 0 Information on CATEGORY 1 stop is available on http support universal robots com A 1 CATEGORY 0 stopping distances and times The table below includes the stopping distances and times measured when a CATE GORY 0 stop is triggered These measurements correspond to the following configu ration of the robot Extension 10076 the robot arm is fully extended horizontally Speed 100 the general speed of the robot is set to 100 and the movement is performed at a joint speed of 183 s Payload maximum payload handled by the robot attached to the TCP 10 kg The test on the Joint 0 was carried out by performing a horizontal movement i e the axis of rotation was perpendicular to the ground During the tests for Joint 1 and 2 the robot followed a vertical trajectory i e the axes of rotation were parallel to the ground and the stop was performed while the robot was moving downwards Stopping Distance rad Stopping time ms Joint 0 BASE 0 98 750 Joint 1 SHOULDER 0 35 240 Joint 2 ELBOW 0 38 280 Version 3 0 1 53 UR10 CB3 Copyright 2009 2014 by Un
122. l Robots A S Importers in countries covered by the European WEEE Directive 2012 19 EU must make their own regis tration to the national WEEE register of their country The fee is typically less than 1 robot A list of national registers can be found here https www ewrn org national registers The following symbols are affixed on the robot to indicate conformity with the above legislations dind RoHS Version 3 0 1 47 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS peniesei suu S v siogou Aq v L02 6002 1 Version 3 0 1 48 UR10 CB3 This chapter presents a range of different certifications and declarations that have been prepared for the product 8 1 Third Party Certifications Third party certifications are voluntary However to provide the best service to robot integrators UR has chosen to certify their robots at the following recognized test insti tutes T V NORD UR robots are safety approved by T V NORD a notified body under the machinery directive 2006 42 EC in EU A copy of the T V NORD safety approval certificate can be found in ap pendix B 1 DELTA UR robots are safety and performance tested by DELTA An electromagnetic compatibility EMC certificate can be found in appendix B An environ mental test certificate can be found in appendix B 8 2 Declarations According to EU direct
123. lected safety mode is indicated by an icon in the corresponding entry in the Safety Boundaries panel If the safety mode is set to Disabled no icon is shown Displacement When a feature has been selected in the drop down box in the lower left portion of the Safety Plane Properties panel the safety plane can be trans lated by tapping the Displacement text field in the lower right portion of this panel and entering a value Entering in a positive value increases the allowed workspace of the robot by moving the plane in the opposite direction of the plane normal while en tering a negative value decreases the allowed area by moving the plane in the direction of the plane normal The tolerance and unit for the displacement of the boundary plane are shown to the right of the text field Effect of strict limit planes Program execution is aborted when the TCP position is about to cross an active strict limit safety plane minus the tolerance see 15 3 if it continues moving along the predicted trajectory Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety system will perform a category 0 stop should the TCP position exceed the specified limit safety plane without tolerance Effect of Trigger Reduced mode planes When no protective stop is in effect and the safety system is not in the special Recovery mode see 15 5 it operates either in
124. m Tool Boundary Tool Boundary Properties Deviation Boundary restricts 35 5 181 1 0 Both Y Copy Feature undefined v Lock Apply The Tool Boundary Properties panel at the bottom of the tab defines a limit on the orientation of robot tool composed of a desired tool orientation and a value for the maximum allowed deviation from this orientation Deviation The Deviation text field shows the value for the maximum allowed de viation of the orientation of the robot tool from the desired orientation Modify this value by tapping the text field and entering the new value The accepted value range together with the tolerance and unit of the deviation are listed next to the text field Copy Feature The desired orientation of the robot tool is specified using a feature see 12 12 from the current robot installation The z axis of the selected feature will be used as the desired tool orientation vector for this limit Use the drop down box in the lower left portion of the Tool Boundary Properties panel to select a feature Only the point and plane type features are available Choos ing the Undefined item clears the configuration of the plane It should be noted that when the limit has been configured by selecting a feature the orientation information is only copied to the limit the limit is not linked to that feature This means that if there ar
125. m execution L simulation Speed 00 Previous Next o Real Robot A thread is a parallel 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 Version 3 0 rev 15965 II 65 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 23 Command Pattern 13 23 Command Pattern Q File 15 42 28 CCCC Program Installation Move Log lt unnamed gt Command Graphics Structure Variables 4 Pallet E 4 Pattern Pattern PalletSequence Approach A pattern is a group of positions to be cycled through 1 Patterns can be used for making much more palletizing etc 9 PatternPoint Set Wait 0 01 9 Exit Positions on a line Line Xs 9 StartPos 9 e Direction FromPos Positions in a square Square xe d me 9 ToPos g hd ee PickSequence 9 StackPos Set Positions in a box Box Wait Waypoint Wait SSS V Folder A list of positions List Comment Halt Popup V Loop ea 4 Il gt 4 o Real Robot Speed 100 Previous umet
126. m is also powered off automatically when the control box shuts down 10 1 4 Quick Start To quickly start up the robot after it has been installed perform the following steps CB3 II 4 Version 3 0 10 1 Getting Started UNIVERSAL ROBOTS Press the Emergency Stop button on the front side of the teach pendant Press the power button on the teach pendant Waita minute while the system is starting up displaying text on the touch screen Ae N When the system is ready a popup will be shown on the touch screen stating that the robot needs to be initialized 5 Touch the button on the popup dialog You will be taken to the initialization screen 6 Wait for the Confirmation of applied Safety Configuration dialog and press the Confirm Safety Configuration button This applies an ini tial set of safety parameters that need to be adjusted based on a risk assessment 7 Unlock the Emergency Stop button The robot state changes from Emergency Stoppedto Power off 8 Step outside the reach workspace of the robot 9 Touch the On button on the touch screen Wait a few seconds until robot state changes to Idle 10 Verify that the payload mass and selected mounting are correct You will be no tified if the mounting detected based on sensor data does not match the selected mounting 11 Touch the Start button on the touch screen The robot now makes a sound and moves a little while releasing the brakes
127. mand 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 Vari ables must be assigned values before being used 13 30 Variables Tab File 154317 CCCC Q Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables Init Variables Variables Clear 4 Mee var 2 9874386E 6 9 Waypoint V Move Waypoint 1 Variable Set Pallet ee Pattern Square 9 alst Corner 9 a2nd Corne a3rd_Corner 9 a4th Corner so PalletSequence 9 Approach 9 PatternPoint Set Wait 9 Exit s Destack 9 StartPos ee Direction FromPos 9 ToPos o PickSequence 9 StackPos Y Simulati 4 Q Simulation gt Speed 10096 Previous Next o Real Robot The Variables tab shows the live values of variables in the running program and keeps a list of variables
128. meter Min Unit Input voltage 0 5 26 V Logical low voltage 2 0 V Logical high voltage 5 5 V Input resistance 47k Q An example of how to use a digital input is shown in the following subsection 4 4 2 1 Using the Tool Digital Inputs The example below shows how to connect a simple button POWER Version 3 0 1 33 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 4 Tool I O 4 4 3 Tool Analog Inputs The tool analog inputs are non differential and can be set to either voltage and current on the I O tab see part II The electrical specifications are shown below Parameter Min Typ Max Unit Input voltage in voltage mode 0 5 26 V Input voltage in current mode 0 5 5 0 V Input current in current mode 2 5 25 mA Input resistance range OV to 5V 29 Input resistance range OV to 10V 15 Input resistance range 4mA to20mA 200 Two examples of how to use an analog inputs are shown in the following subsections CAUTION 1 Analog inputs are not protected against over voltage in current mode Overrating the limit in the electrical specification can cause permanent damage to the input 4 4 3 1 Using the Tool Analog Inputs Non differential The example below shows how to connect an analog sensor with a non differential
129. moves in a straight 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 Version 3 0 II 23 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 7 Installation Mounting WARNING Make sure to use the correct installation settings Save and load the installation files along with the program The two buttons on the bottom of the screen are relevant when the TCP is changed 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 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 12 7 Installation Mounting File 15 42 39 CCCC Program I Installation Move I O Log ESIEEBnDBUAIBU Robot Mounting and Angle Mounting T Setup s Safety x1 Variables i MODBUS client Features oH Default Program 25 Load Save 0 0 45 m Rotate Robot Base Mounting 45 0 0 m 45 gt Here the mounting of the robot arm can be specified This serves two purpos
130. n Push the magnifying glass icons to zoom in out or drag a finger across to change the view If the specified target position of the robot TCP is close to a safety or trigger plane or the orientation of robot tool is near the tool orientation boundary limit see 15 11 a 3D representation of the proximate boundary limit is shown Safety planes are visualized in yellow and black with a small arrow representing the plane normal which indicates the side of the plane on which the robot TCP is allowed to be positioned Trigger planes are displayed in blue and green and a small arrow pointing to the side of the plane where the Normal mode limits see 15 5 are active The tool orientation boundary limit is visualized with a spherical cone together with a vector indicating the current orientation of the robot tool The inside of the cone represents the allowed area for the tool orientation vector When the target robot TCP no longer is in the proximity of the limit the 3D represen tation disappears If the target TCP is in violation or very close to violating a boundary limit the visualization of the limit turns red CB3 II 14 Version 3 0 11 4 Pose Editor Screen UNIVERSAL ROBOTS Feature and tool position At the top right part of the screen the feature selector can be found The feature selector defines which feature to control the robot arm relative to while below it the boxes display the full coordinate value for the tool
131. n PolyScope see part II of the PolyScope Manual The safety limits of Recovery mode are Limiting Safety Function Limit Joint speed 30 s TCP speed 250 mm s TCP force 100 N Momentum 10 kg m s Power 80 W The safety system issues a category 0 stop if a violation of these limits appears Version 3 0 I 41 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 5 3 Safety related Electrical Interfaces WARNING Notice that limits for the joint position the TCP position and the TCP orientation are disabled in Recovery Mode Take caution when mov ing the robot arm back within the limits 5 3 Safety related Electrical Interfaces The robot is equipped with several safety related electrical inputs and outputs All safety related electrical inputs and outputs are dual channel They are safe when low e g the emergency stop is not active when the signal is high 24V 5 3 1 Safety related Electrical Inputs The table below gives an overview of the safety related electrical inputs Safety Input Description Robot emergency stop Performs a category 1 stop informing other machines us ing the System emergency stop output Emergency stop button Performs a category 1 stop informing other machines us ing the System emergency stop output System emergency stop Performs a category 1 stop
132. nables operation without any additional safety equipment see illustration below UR10 CB3 1 24 Version 3 0 4 3 Controller I O UNIVERSAL ROBOTS 4 3 2 2 Connecting emergency stop buttons In most applications it is required to use one or more extra emergency stop buttons The illustration below show how one or more emergency stop buttons 4 3 2 3 Sharing emergency stop with other machines It is often desired to set up a common emergency stop circuit when the robot is used together with other machines By doing so the operator does not need to think about which emergency stop buttons to use The normal emergency stop input cannot be used for sharing purposes since both machines will wait for the each other to go out of the emergency stopped condition In order to share the emergency stop function with other machinery the following configurable I O functions must be configured through the GUI Configurable input pair External emergency stop Configurable output pair System emergency stop The illustration below shows how two UR robots share their emergency stop func tions In this example the configured I Os used are CIO CT1 and CO0 CO1 If more than two UR robot or other machines needs to be connected a safety PLC is needed to control the emergency stop signals Version 3 0 rev 15965 1 25 UR10 CB3 Copyright 2009 2014
133. nd 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 Com mands can be inserted or removed using the Structure tab described in 13 29 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 but tons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allows you to adjust the program speed at any time which directly affects the speed at which the robot arm moves Additionally the speed slider shows in real time the relative speed at which the robot arm moves taking into account the safety settings The indicated percentage is the maximum achievable speed for the running program without faulting the safety system To the left of the Dashboard the Simulationand Real Robot buttons toggle between running the program in a simulation or running it on the real robot When running in simulation the robot arm does not move and thus cannot damage itself or any nearby CB3 II 42 Version 3 0 13 3 Variables UNIVERSAL ROBOTS equipment in collisions Use simulation to test programs if unsure about what the robot arm will do DANGER 1 Make sure to stay outside the robot workspace when the Play button is pres
134. ndicated by a A icon positioned over the feature selector Click the amp button next to the selector to update the safety plane with the current position and orientation of the feature The icon is also displayed if the selected feature has been deleted from the installation Version 3 0 II 99 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 11 Boundaries Safety mode The drop down menu on the right hand side of the Safety Plane Properties panel is used to choose the safety mode for the safety plane with the following modes available Disabled The safety plane is never active Normal When the safety system is in Normal mode a Normal mode plane is active and it acts as a strict limit on the position of the robot TCP Reduced When the safety system is in Reduced mode a Reduced mode plane is active and it acts as a strict limit on the position of the robot TCP Normal amp Reduced When the safety system is either in Normal or Re duced mode a Normal amp Reduced mode plane is active and it acts as a strict limit on the position of the robot TCP Trigger Reduced mod When the safety system is either in Normal or Re duced mode a Trigger Reduced mode plane is active and it causes the safety system to switch to Reduced mode for as long as the robot TCP is positioned be yond it The se
135. ne or more robot joints need to be moved and robot power is either not possible or unwanted there are two different ways to force movements of the robot joints 1 Forced back driving Force a joint to move by pulling hard 500 N on the robot arm Each joint brake has a friction clutch which enables movement during high forced torque 2 Manual brake release Remove the joint cover by removing the few M3 screws that fix it Release the brake by pushing the plunger on the small electromagnet as shown in the picture below WARNING 1 Moving the robot arm manually is intended for urgent emer gencies only and might damage the joints 2 If the brake is released manually gravitational pull can cause the robot arm to fall Always support the robot arm tool and work item when releasing the brake UR10 CB3 1 10 Version 3 0 Transport the robot in the original packaging Save the packaging material in a dry place you may need to pack down and move the robot later on Lift both tubes of the robot arm at the same time when moving it from the packaging to the installation place Hold the robot in place until all mounting bolts are securely tightened at the base of the robot The controller box shall be lifted by the handle WARNING 1 Make sure not to overload your back or other bodyparts when the equipment is lifted Use proper lifting equipment All regional and national guidelines for lifting shall be followed Univer
136. ned below moveJ will make movements that are calculated in the joint space of the robot arm Each joint is controlled to reach the desired end location at the same time This movement type results in a curved path for the tool The shared parameters that apply to this movement type are the maximum joint speed and joint acceleration to use for the movement calculations specified in deg s and deg 52 respectively If it is desired to have the robot arm move fast between waypoints disregarding the path of the tool between those waypoints this movement type is the favorable choice moveL will make the tool move linearly between waypoints This means that each joint performs a more complicated motion to keep the tool on a straight line path The shared parameters that can be set for this movement type are the de sired tool speed and tool acceleration specified in mm s and mm s respectively and also a feature The selected feature will determine in which feature space the Version 3 0 II 45 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 5 Command Move tool positions of the waypoints are represented in Of specific interest concerning feature spaces are variable features and variable waypoints Variable features can be used when the tool position of a waypoint need to be determined by the actual value of the
137. new installation variable Name Value li var 1 Cancel Pressing Create New will bring up a panel with a suggested name for the new vari able The name may be changed and its value may be entered by touching either text field The OK button can only clicked if the new name is unused in this installation Itis possible to change the value of an installation variable by highlighting the variable in the list and then clicking on Edit Value To delete a variable select it in the list then click Delete After configuring the installation variables the installation itself must be saved to keep this configuration see 12 5 The installation variables and their values are also saved automatically every 10 minutes If a program or an installation is loaded and one or more of the program variables have the same name as the installation variables the user is presented with two options to resolve the issue either use the installation variables of the same name instead of the program variable or have the conflicting variables renamed automatically Version 3 0 II 27 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 11 Installation MODBUS client I O Setup 12 11 Installation MODBUS client I O Setup File 15 42 41
138. nt intended to perform safety related functions functional safety General industrial applications This standard defines extended EMC immunity requirements for safety related functions Conforming to this standard ensures that the safety functions of UR robots provide safety even if other equipment exceeds the EMC emission limits defined in the IEC 61000 standards IEC 61131 2 2007 E EN 61131 2 2007 2004 108 EC Programmable controllers Part 2 Equipment requirements and tests Both normal and safety rated 24V I Os are constructed according to requirements of this standard to ensure reliable communication with other PLC systems ISO 14118 2000 E EN 1037 A1 2008 2006 42 EC Safety of machinery Prevention of unexpected start up These two standards are very similar They define safety principles for avoiding unexpected start up both as a result of unintended repowering during maintenance or repair and as a result of unintended start up commands from a control perspective IEC 60947 5 5 A1 2005 EN 60947 5 5 A11 2013 2006 42 EC Low voltage switchgear and controlgear Part 5 5 Control circuit devices and switching elements Electrical emergency stop device with mechanical latching function The direct opening action and the safety lock mechanism of the emergency stop button comply with re quirements in this standard IEC 60529 2013 EN 60529 A2 2013 Degrees of protection provided by enclosures IP
139. oard will disable the auto starting feature until the run button has been pressed again 12 13 3 Auto Initialization The robot arm can be automatically initialized for instance when the control box is powered up On the specified external input signal edge transition the robot arm will be completely initialized irrespective of the visible screen The final stage of initialization is brake release When the robot is releasing the brakes it moves a bit and makes a sound Furthermore the brakes cannot be automatically released if the configured mounting does not match the mounting detected based on sensor data In this case the robot needs to be initialized manually in the initialization screen see 10 4 Note on startup the current input signal level is undefined and chosing a transition that matches the signal level on startup will initialize the robot arm immediately CB3 II 36 Version 3 0 12 14 Log Tab UNIVERSAL ROBOTS 12 14 Log Tab File 15 43 09 CCCC O Program Installation Move Log Readings Joint Load Controller Temp 0 0 C Base OK e 0 0 V Main Voltage 48 0 V Shoulder e 0 0 V Avg Robot Power 18 Elbow OK eM 0 0 V Robot Current 25A Wrist 1 0 0 V 10 Current OA Wrist 2 OK x 0 0 V Tool Current 0 mA Wrist 3 OK x 0 0 V T 2014 10 28 15 43 09 ejl Ee A 2014 10 28 15 42 00 000 RobotInterface C10240 Real Robot not connected Simulating Rob
140. obot arm cannot be powered on so the button will be disabled e When the robot arm state is Idle the button needs to be tapped once again to start the robot arm up At this point sensor data is checked against the configured mounting of the robot arm If a mismatch is found with a tolerance of 30 the button is disabled and an error message is displayed below it If the mounting verification passes tapping the button releases all joint brakes and the robot arm becomes ready for normal operation Note that the robot makes a sound and moves a little while releasing the brakes If the robot arm violates one of the safety limits after it starts up it operates in a special Recovery mode In this mode tapping the button switches to a recovery move screen where the robot arm can be moved back within the safety limits Ifa fault occurs the controller can be restarted using the button f the controller is currently not running tapping the button starts it Finally the smaller button with the red icon on it serves to power off the robot arm CB3 10 Version 3 0 11 On screen Editors 11 1 On screen Keypad Peas el DODE ninm cance Simple number typing and editing facilities In many cases the unit of the typed value is displayed next to the number Version 3 0 rev 15965 11 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 2
141. obot arm is limited by a fixed limit set that is not customizable by the user For details about Recovery mode limits see 5 in the Hardware Installation Manual 15 6 Teach Mode When in Teach mode see 12 1 5 and the movement of the robot arm comes close to certain limits the user will feel a repelling force This force is generated for limits on the position orientation and speed of the robot TCP and the position and speed of the joints The purpose of this repelling force is to inform the user that the current position or speed is close to a limit and to prevent the robot from violating that limit However if enough force is applied by the user to the robot arm the limit can be violated The magnitude of the force increases as the robot arm comes closer to the limit 15 7 Password Lock All settings on this screen are locked until the correct Safety password see 14 3 is entered in the white text field at the bottom of the screen and the Unlock button is pressed The screen can be locked again by clicking the Lock button The Safety tab is automatically locked when navigating away from the Safety Configuration screen When the settings are locked a lock icon is visible next to the text Safety on the left side of the screen An unlock icon is shown when the settings are unlocked NOTE Note that the robot arm is powered off when the Safety Configuration screen is unlocked Version 3 0 II 91 CB3 Copyright 200
142. ol box Whenever a European Directive number is noted in brackets it indicates that the standard is harmonized according to that Directive A standard is not a law A standard is a document developed by stakeholders within a given industry defining the normal safety and performance requirements for a product or product group Standard type abbreviations mean the following ISO International Standardization Organization International Electrotechnical Commission EN European Norm TS Technical Specification TR Technical Report ANSI American National Standards Institute RIA Robotic Industries Association CSA Canadian Standards Association Conformity with the following standards is only guaranteed if all assembly instructions safety instructions and guidance in this manual are followed ISO 13849 1 2006 PL d ISO 13849 2 2012 EN ISO 13849 1 2008 E PLd 2006 42 EC EN ISO 13849 2 2012 E 2006 42 EC Safety of machinery Safety related parts of control systems Part 1 General principles for design Part 2 Validation The safety control system is designed as Performance Level d PLd according to the requirements of these standards ISO 13850 2006 Stop category 1 EN ISO 13850 2008 E Stop category 1 2006 42 EC Safety of machinery Emergency stop Principles for design The emergency stop function is designed as a stop category 1 according to this standard Stop category 1 is Vers
143. ollowing applications When the teach pendant is inaccessible When a PLC system must have full control When several robots must be turned on or off at the same time The remote ON OFF control provides a small auxiliary 12V supply which is kept active when the controller box is turned off The on and off inputs are intended for short time activation only The on input works in the same way as the power button Always use the off input for remote off control as this signal allows the control box safe files and shut down nicely The electrical specifications are shown below Terminals Parameter Min Max Unit 12V GND Voltage 10 12 13 V 12V GND Current 100 mA ON OFF Inactive voltage 0 0 5 V ON OFF Active voltage 5 12 V ON OFF Input current 1 mA ON Activation time 200 600 ms The following examples show how to use remote ON OFF NOTE A special feature in the software can be used to load and start pro grams automatically see part II UR10 CB3 1 30 Version 3 0 4 4 Tool I O UNIVERSAL ROBOTS CAUTION 1 Never use the on input or the power button to turn off the control box 4 3 7 4 Remote ON button The illustration below shows how to connect a remote on button 4 3 7 2 Remote OFF button The illustration below shows how to connect a remote off button 4 4 Tool I O At the tool end of the robo
144. on the Move screen Variable Select whether the selected feature can be used as a variable If this option is selected a variable named the name of the feature suceeded by var will then be available when editing robot programs and this variable can be assigned a new value in a pro gram which can then be used to control waypoints that depend on the value of a feature Set or Change Position Use this button to set or change the selected feature The Move screen will appear and a new position of the feature can be set Move Robot to Feature Pressing this button will move the robot arm towards the selected feature At the end of this movement the coordinate systems of the feature and the TCP will coincide except for a 180 degree rotation about the x axis CB3 32 Version 3 0 12 12 Installation Features UNIVERSAL ROBOTS Add Point Push this button to add a point feature to the installation The position of a point feature is defined as the position of the TCP at that point The orientation of the point feature is the same as the TCP orientation except that the feature coordinate system is rotated 180 degrees about its x axis This makes the z axis of the point feature directed opposite than that of the TCP at that point File 1542489 CCCC Program Installation Move Log E DIE Point 1 Delete Setup Mariables MODBUS
145. on the environment They are composed of the following values Force A limit for the maximum force that the robot TCP exerts on the environment CB3 II 92 Version 3 0 rev 15965 15 9 General Limits UNIVERSAL ROBOTS Power A limit for the maximum mechanical work produced by the robot on the envi ronment considering that the payload is part of the robot and not of the environ ment Speed A limit for the maximum linear speed of the robot TCP Momentum A limit for the maximum momentum of the robot arm There are two means available for configuring the general safety limits within the in stallation Basic Settings and Advanced Settings which are described more fully below Defining the general safety limits only defines the limits for the tool and not the over all limits of the robot arm This means that although a speed limit is specified it does not guarantee that other parts of the robot arm will obey this same limitation When in Teach mode see 12 1 5 and the current speed of the robot TCP is close to the Speed limit the user will feel a repelling force which increases in magnitude the closer the speed comes to the limit The force is generated when the current speed is within approximately 250 mm s of the limit Basic Settings The initial general limits subpanel shown as the default screen fea tures a slider with the following predefined sets of values for the general limits in both Normal and Reduced modes
146. ons just to the right of a box allows you to add or subtract an amount to from the current value Pressing and holding down a button will directly increase decrease the value The longer the button is down the larger the increase decrease will be OK button If this screen was activated from the Move tab see 12 1 clicking the OK button will return to the Move tab where the robot arm will move to the specified target If the last specified value was a tool coordinate the robot arm will move to the target position using the MoveL movement type while the robot arm will move to the target position using the Move movement type if a joint position was specified last The different movement types are described in 13 5 Version 3 0 II 15 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 11 4 Pose Editor Screen Cancel button Clicking the Cancel button leaves the screen discarding all changes CB3 II 16 Version 3 0 12 4 Move Tab On this screen you can always move jog the robot arm directly either by translat ing rotating the robot tool or by moving robot joints individually File 15 42 30 CCCC Q Program Installation Move l Log Move Tool Robot Feature View Tool
147. oordinates in the feature space of the selected feature There are a few circumstances that need detailed explanation Fixed feature If a fixed feature such as e g Base is selected this will not have any effect on Fixed and Relative waypoints The behavior for Variable waypoints is described below Variable feature If any of the features in the currently loaded installation are selected to be variable these corresponding variables will also be selectable in the feature selection menu If a feature variable named by the name of the feature and proceeded by var is selected the robot arm movements except to Relative waypoints will depend on the actual value of the variable when the program is running The initial value of a feature variable is the value of the actual feature This means that the movements will only change if the feature variable is actively changed by the robot program Variable waypoint When the robot arm moves to a variable waypoint the tool target position will always be calculated as the coordinates of the variable in the space of the selected feature Therefore the robot arm movement for a variable waypoint will always change if another feature is selected CB3 II 46 Version 3 0 13 6 Command Fixed Waypoint UNIVERSAL ROBOTS Deceleration Speed Acceleration Time Figure 13 1 Speed profile for a motion The curve is divided into three segments acceleration cruise and decel
148. orces in selectable axis in the robot s workspace All robot arm movements under a Force command will be in Force mode When the robot arm is moving in force mode it is possible to select one or more axes in which the robot arm is compliant Along around compliant axes the robot arm will comply with the environment which means it will automatically adjust its position in order to achieve the desired force It is also possible to make the robot arm itself apply a force to its environment e g a workpiece Force mode is suited for applications where the actual tcp position along a predefined axis is not important but in stead a desired force along that axis is required For exam ple if the robot TCP should roll against a curved surface or when pushing or pulling Version 3 0 II 67 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 24 Command Force a workpiece Force mode also supports applying certain torques around predefined axes Note that if no obstacles are met in an axis where a non zero force is set the robot arm will try to accelerate along about that axis Although an axis has been selected to be compliant the robot program will still try to move the robot along around that axis However the force control assures that the robot arm will still approach the specified force WARNING If the force fun
149. ot Robot Health The top half of the screen displays the health of the robot arm and control box 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 information 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 col umn categorizes the severity of the log entry The second column shows the time of arrival of the message The next column shows the sender of the message While the last column shows the message itself Messages can be filtered by selecting the toggle buttons which correspond to the severity The figure above now shows that errors will be displayed while information and warning messages will be filtered Some log mes sages are designed to provide more information this can be accessed by selecting the log entry 12 15 Load Screen On this screen you choose which program to 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 edit a program Version 3 0 II 37 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 15 Load Screen
150. ots functionality and behavior are protected Any areas where modifications can be made will be secured Password Confirm password Change Safety Password Enter current password Apply Password Confirm password Two passwords are supported The first is an optional System password which pre vents unauthorized modification of the setup of the robot When the System password is set programs can be loaded and executed without the password but the user must enter the correct password in order to create or change programs The second is a required Safety password which must be entered correctly in order to modify the safety configuration NOTE In order to change the safety configuration the Safety password must be set WARNING Add a System password to prevent non authorized personnel from changing the robot installation CB3 II 82 Version 3 0 14 4 Calibrate Screen UNIVERSAL ROBOTS 14 4 Calibrate Screen X Point very precisely in the center of the blue cross Cancel 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 Version 3 0 II 83 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 14 5
151. ous graphical components in the 3D view The bottom button switches on off the visualization of proximate boundary limits The motion segments shown depend 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 13 29 Structure Tab File 154208 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables V Robot Program a empty Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait Set Ens selected Popup Halt Comment Folder Edit Move Copy Paste After selected 3X Move Cut Delete Suppress lt gt MA gt spees 0 Previous Next pee 1 0096 Previous Next Real Robot Lal l The program structure tab gives an opportunity for inserting moving copying 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 CB3 II 76 Version 3 0 13 30 Variables Tab UNIVERSAL ROBOTS 3 Press the button for the com
152. p in the directory structure and directly to the program folder 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 Goto program folder Go home Actions Actions such as create directory delete file etc Version 3 0 II 39 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 12 16 Run Tab 12 16 Run Tab File 15 42 14 CCCC Q Run Move 1 0 Log UNIVERSAL ROBOTS Variables Program ABCDE Status Stopped Time 0000d00h00m45 584s This tab provides a very simple way of operating the robot arm and control box with as few buttons and options as possible This can be usefully combined with password protecting the programming part of PolyScope see 14 3 to make the robot into a tool that can run exclusively pre written programs Furthermore in this tab a default program can be automatically loaded and started based on an external input signal edge transition see 12 13 The combination of auto loading and starting of a default program and auto initialization on power up can for instance be used to integrate the robot arm into other machinery CB3 II 40 Version 3 0 13 Programming
153. p when foo B Wait V Folder 34 Comment Halt Shared Parameters 3 Popup Tool Speed 10 mm s V Loop e empty Tool Acceleration 1200 mm s B script 4 Reset to defaults lt gt T S i kee peed 100 Previous Next gt Real Robot Lal The direction is given by two positions and is calculated as the position difference from the first positions TCP to the second positions TCP Note A direction does not consider the orientat ions of the points Next Stacking Position Expression The robot arm 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 optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional After End 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 13 25 a special program sequence is performed at each stack position CB3 II 74 Version 3 0 13 27 Command Suppress UNIVERSAL ROBOTS 13 27 Command Suppress Suppressed program lines are simply skipped when the program i
154. pter 7 For information about standards applied during the development of the robot see appendix C UR10 CB3 1 50 Version 3 0 9 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 under the condi tions set out below In the case of new devices and their components exhibiting defects resulting from manufacturing and or material faults within 12 months of entry into service max imum 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 invalid 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 soft ware downloads The purchase receipt together with the date of purchase shall be required as evidence for invoking the Warranty Claims under the Warranty must be submitted within two months of the Warranty default becoming evident Ownership of devices or components replaced by and returned to Universal Robots shall vest in Universal Robots Any o
155. racteristic point on the robot s tool The TCP is shown as a small blue ball Note Release the button to stop the motion at any time 12 1 4 Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the default joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further If the limits for a joint have been configured with a position range different from the default see 15 10 this range is indicated with red in the horizontal bar 12 1 5 Teach While the Teach button is held down it is possible to physically grab the robot arm and pull it to where you want it to be If the gravity setting see 12 7 in the Setup tab is wrong or the robot arm carries a heavy load the robot arm might start moving falling when the Teach button is pressed In that case just release the Teach button again CB3 18 Version 3 0 12 2 I O Tab UNIVERSAL ROBOTS WARNING 1 Make sure to use the correct installation settings e g Robot mounting angle weight in TCP TCP offset Save and load the installation files along with the program 2 Make sure that the TCP settings and the robot mounting settings are set correctly before operating the Teach button If these set tings are not correct the robot arm will move when the Teach button is activated 3 The teach function impedance backdr
156. relative to the selected feature X Y and Z control the position of the tool while RX RY and RZ control the orientation of the tool Use the drop down menu above the RX RY and RZ boxes to choose the orientation representation Available types are Rotation Vector rad The orientation is given as a rotation vector The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate This is the default setting Rotation Vector The orientation is given as a rotation vector where the length of the vector is the angle to be rotated in degrees RPY rad Roll pitch and yaw RPY angles where the angles are in radians The RPY rotation matrix X Y Z rotation is given by Rrpy v B x Rz a Ry B Rx vy RPY Roll pitch and yaw RPY angles where angles are in degrees Values can be edited by clicking on the coordinate Clicking on the or buttons just to the right of a box allows you to add or subtract an amount to from the current value Pressing and holding down a button will directly increase decrease the value The longer the button is down the larger the increase decrease will be Joint positions Allows the individual joint positions to be specified directly Each joint position can have a value in the range from 360 to 360 which are the joint limits Values can be edited by clicking on the joint position Clicking on the or butt
157. rences Input modes can be selected in the GUI see part II The electrical specifications are shown below UR10 CB3 1 28 Version 3 0 4 3 Controller I O UNIVERSAL ROBOTS Terminals Parameter Min Typ Max Unit Analog input in current mode AIx AG Current 4 20 mA AIx AG Resistance 20 ohm AIx AG Resolution 12 bit Analog input in voltage mode AIx AG Voltage 0 10 V AIx AG Resistance 10 Kohm AIx AG Resolution 12 bit Analog output in current mode AOx AG Current 4 20 mA AOx AG Voltage 0 10 V AOx AG Resolution 12 bit Analog output in voltage mode AOx AG Voltage 0 10 V AOx AG Current 20 20 mA AOx AG Resistance 1 ohm AOx AG Resolution 12 bit The following examples show how to use the analog I O 4 3 6 1 Using an analog output Below is an example of how to control a conveyor belt with an analog speed control input 4 3 6 2 Using an Analog Input Below is an example of how to connect an analog sensor Version 3 0 1 29 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 3 Controller I O 4 3 7 Remote ON OFF control Remote ON OFF control can be used to turn the control box on and off without using the teach pendant It is typically used in the f
158. riction of the use of certain hazardous substances RoHS A complete list applied harmonized standards including associated specifications is provided in the prod uct manual This list is valid for the product manual with the same serial numbers as this document and the product Odense January 27 2014 Electronics Engineer Version 3 0 1 55 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS B 2 Safety System Certificate B 2 Safety System Certificate TUV NORD Hiermit wird bescheinigt dass die Firma This is to certify that the company Universal Robots A S Energivej 25 5260 Odense S Denmark berechtigt ist das unten genannte Produkt mit dem abgebildeten Zeichen zu kennzeichnen is authorized to provide the product described below with the mark as illustrated Gepr ft nach Tested in accordance with Beschreibung des Produktes Details s Anlage 1 Description of the product Details see Annex 1 Typenbezeichnung URSafety 3 0 Type description Bemerkung See annex 2 Remark No 44 207 14097601 100 Pr fberjcht Nr 725 Reffort No 3514 2383 T V NORD CERT GmbH Langemarckstrake 20 DAkks Deutsche Akkreditierungsstelle D ZE 12007 01 06 EN ISO 13849 2008 PL d Universal Robots Safety System for UR 10 and UR 5 robots G ltigkeit Validity von from 2
159. rties Name Boundary restricts Safety plane 1 O Normal v Copy Feature Displacement X wall o 1 mm Lock Apply Name The Name text field allows the user to assign a name to the selected safety plane Change the name by tapping the text field and entering a new name Copy Feature The position and normal of the safety plane is specified using a fea ture see 12 12 from the current robot installation Use the drop down box in the lower left portion of the Safety Plane Properties section to select a feature Only the point and plane type features are available Choosing the lt Undefined gt item clears the configuration of the plane The z axis of the selected feature will point to the disallowed area and the plane normal will pointin the opposite direction except when the Base feature is selected in which case the plane normal will point in the same direction If the plane is configured as a Trigger Reduced mode plane see 15 11 3 the plane normal indicates the side of the plane that does not trigger transition into Reduced mode It should be noted that when the safety plane has been configured by selecting a fea ture the position information is only copied to the safety plane the plane is not linked to that feature This means that if there are changes to the position or orientation of a feature which has been used to configure a safety plane the safety plane is not auto matically updated If the feature has changed this is i
160. s A S All rights reserved UNIVERSAL ROBOTS 4 3 Controller I O Copyright 2009 2014 by Universal Robots A S All rights reserved It is possible to power the digital I O from an internal 24V power supply or from an external power source by configuring the terminal block called Power This block consists of four terminals The upper two PWR and GND are 24V and ground from the internal 24V supply The lower two terminals 24V and OV in the block are the 24V input to supply the I O The default configuration is to use the internal power supply see below The electrical specifications for both the internal and an external power supply are shown below Terminals Parameter Min Max Unit Internal 24V power supply PWR GND Voltage 23 24 25 V PWR GND Current 0 2 A External 24V input requirements 24V OV Voltage 20 24 29 V 24V OV Current 0 6 A The digital I O are constructed in compliance with IEC 61131 2 The electrical specifi cations are shown below UR10 CB3 1 22 Version 3 0 4 3 Controller UNIVERSAL ROBOTS Terminals Parameter Min Typ Unit Digital outputs COx DOx Current 0 1 A Voltage drop 0 0 5 V Leakage current 0 01 mA COx DOx Function PNP Type COx DOx 61131 2 1 Type Digital Inputs EIx SIx CIx DIx Voltage 3 30 V EIx
161. s run A suppressed 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 13 28 Graphics Tab File 15 43 19 CCCC O Program Installation Move Log lt unnamed gt Command Graphics Structure Variables Init Variables a V Robot Program SAR a 4 4 V Move a x Waypoint V MoveJ Vv 9 Waypoint 1 Variable Set ee Pallet 9 Pattern Squar 9 Bis come 9 a2nd Corne Corner j 9 a4th Corne o PalletSequence 4 9 Approach 9 PatternPoin Set Wait 9 Exit ee Destack StartPos ee Direction 9 FromPos 9 ToPos o PickSequence 9 StackPos M Ill gt a lt gt Wy Q simulation ries inn Real Robot Speed 10096 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 be tween motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D drawing of the robot arm shows the current position of the robot arm and the shadow of the robot arm shows how the robot arm intends to reach the waypoint selected in the left hand side of the screen If the current position
162. sal Robots cannot be held responsible for any damage caused by transportation of the equipment 2 Make sure to mount the robot according to the mounting in structions in chapter 3 Version 3 0 1 11 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS peniesei suu S v 510 Aq v L02 6002 1 Version 3 0 I 12 UR10 CB3 3 Mechanical Interface The robot consists essentially of six robot joints and two aluminum tubes connecting the base with the tool of the robot The robot permits the tool to be translated and rotated within the workspace The next section describes the basics of mounting the various parts of the robot system Electrical installation instructions in chapter 4 must be observed 3 1 Workspace of the Robot The workspace of the UR10 robot extends 1300 mm from the base joint 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 cylin drical volume should be avoided if possible because it causes the joints to move fast even though the tool is moving slowly causing the robot to work inefficiently and the conduction of the risk assessment to be difficult Front Tilted 3 2 Mounting Robot Arm The robot arm is mounted using four M8 bolts using the four 8 5 mm holes on the base
163. se Tool Default Program Load Save New Point Line Plane Customers that buy industrial robots generally want to be able to control or ma nipulate a robot arm and to program the robot arm relative to various objects and boundaries in the surroundings of the robot arm such as machines objects or blanks fixtures conveyers pallets or vision systems Traditionally this is done by defining frames coordinate systems that relate the internal coordinate system of the robot arm the base coordinate system to the relevant object s coordinate system Reference can both be made to tool coordinates and to base coordinates of the robot arm A problem with such frames is that a certain level of mathematical knowledge is re quired to be able to define such coordinate systems and also that it takes a considerable ammount of time to do this even for a person skilled in the art of robot programming and installation Often this task involves the calculation of 4x4 matrices Particularly the representation of orientation is complicated for a person that lacks the required experience to understand this problem Questions often asked by customers are for instance Will it be possible to move the robot 4 cm away from the claw of my computerised numerically controlled CNC machine s it possible to rotate the tool of the robot 45 degrees relative to the table Can we make th
164. sed The movement you programmed may be dif ferent than expected 2 Make sure to stay outside the robot workspace when the Step button is pressed The function of the Step button can be diffi cult to understand Only use it when it is absolutely necessary 3 Make sure to always test your program by reducing the speed with the speed slider Logic programming errors made by the integrator might cause unexpected movements of the robot arm While the program is being written the resulting motion of the robot arm is illustrated using a 3D drawing on the Graphics tab described in 13 28 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 com mand is not finished and green means that all is OK A program can only be run when all commands are green 13 3 Variables A robot program can make use of variables to store and update various values during runtime Two kinds of variables are available Installation variables These can be used by multiple programs and their names and values are persisted together with the robot installation see 12 10 for further de tails Regular program variables These are available to the running program only and their values are lost as soon as the program is stopped The following variable types are available bool A boolean variable whose value is either True or False int A whole n
165. sed only on the robot TCP so other parts of the robot arm may move faster than the defined value CB3 I 94 Version 3 0 15 10 Joint Limits UNIVERSAL ROBOTS Switching to Basic Settings Pressing the Basic Settings button switches back to the basic general limits screen and all general limits are reset to their Default preset Should this cause any customized values to be lost a popup dialog is shown to confirm the action 15 10 Joint Limits Q File 154322 CCCC Program Installation Move Log peccon ourauon Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 Setup Each of the following joint limits can be configured independently Safety Maximum speed Variables Position range MODBUS client Features Default Program Joints Range Normal Mode Reduced Mode Load Save Minimum Maximum Minimum Maximum Base 363 363 363 363 3 3 Shoulder 363 363 363 363 3 3 Elbow 363 363 363 363 3 3 Wrist 1 363 363 363 363 3 3 Wrist 2 363 363 363 363 3 3 Wrist 3 363 363 363 363 3 3 Lock Apply Joint limits restrict the movement of individual joints in joint space i e they do not refer to Cartesian space but rather to the internal rotational position of the joints and their rotational speed
166. set occurs As soon as the robot TCP passes through the Trigger Reduced mode plane the more permissive of the Normal and Reduced mode limits is applied for each limit value Once the robot TCP is positioned 20 mm or further from the Trigger Reduced mode plane on the Normal mode side the Reduced mode limit set is no longer active and the Normal mode limit set is enforced If the predicted trajectory takes the robot TCP through a Trigger Reduced mode plane the robot arm will start decelerating even before passing through the plane if it is about to exceed joint speed tool speed or momentum limit in the new limit set Note that since these limits are required to be more restrictive in the Reduced mode limit set such premature deceleration can occur only when transitioning from Normal to Reduced mode Version 3 0 II 101 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 11 Boundaries 15 11 4 Tool Boundary configuration Q File 154332 CCCC Program Installation Move Log Len con guredan Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 1 0 VO Setup Safety Boundaries 3D View Safety Safety plane 0 amp 8 Variables Safety plane 1 Ole MODBUS client Ecl cor Features il Default Program _ Load Save
167. sor CLL Susanne Otto B Sc E E B Com Org 20ass sheet j Version 3 0 I 57 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS B 4 EMC Test Certificate B 4 EMC Test Certificate EMC assessment sheet no 1277 DELTA client Universal Robots A S Energivej 25 5260 Odense S Denmark DELTA project no T207371 Product identification URS robot arm with control box and teach pendant URS AE CB3 OA series UR10 robot arm with control box and teach pendant UR10 AE CB3 0A series DELTA report s EMC test of UR10 and URS project no T207371 DANAK 1913884 Other document s Conclusion EN 61326 3 1 2008 Industrial locations EN 61000 6 2 2005 EN 61000 6 4 2007 A 1 The two robot arms URS and UR1O including their control box and teach pendant have been tested according to the below listed standards Both systems meet the EMC requirements of the standards and the essential requirements of the European EMC directive 2004 108 EC The test results are given in the DELTA report listed above Date H rsholm 27 March 2014 Assessor ud Chasse en Duvald Christensen Senior Technology Specialist EMC 20ass sheet j UR10 CB3 I 58 Version 3 0 This section describes relevant standards applied under the development of the robot arm and contr
168. st three are the orientation given as a rotation vector given by the vector rx ry rz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate The position is always given in relation to a reference frame or coordinate system defined by the selected feature The robot arm always moves linearly to a variable waypoint For example to move the robot 20 mm along the z axis of the tool var 1 2p 0 0 0 02 0 0 0 Movel Waypoint 1 varibale position Use variable var 1 Feature Tool Version 3 0 re 5 II 51 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 10 Command Wait 13 10 Command Wait 9 File 154220 CCCC Program Installation lt unnamed gt Command Graphics Structure Variables V Robot Program V Move Wait 9 Waypoint V Move Please select what should trigger the robot s next action 9 Waypoint Set No wait Pallet Pattern Q wait 0 01 seconds PalletSequenc 001 9 roach 5 UM Q wait for Digital Input lt Di Input gt w Low v Wait wait for lt An Input gt gt 0 0 Amps oe Destack 9 StartPos Direction 9 FromPos 9 ToPos PickSequence 9 StackPos Set Wait Waypoint Wait V Folder Wait for Ji
169. stance between the tcp in the two positions The angle states how much the tcp orientation changes between the two positions More precisely the length of the rotation vector describing the change in orientation CB3 II 50 Version 3 0 13 9 Command Variable Waypoint UNIVERSAL ROBOTS 13 9 Command Variable Waypoint File 154317 CCCC Q Move I O Log unnamed Command Graphics Structure Variables Init Variables E V Robot Program Variable renam 9 Y Waypoint 9 V 9 Waypoint 1 Variable Set eo Pallet ee Pattern squarg 9 alst 9 a2nd Corne 9 Corner 9 a4th Corne o PalletSequence 9 Approach 9 PatternPoin Set Wait 9 Exit so Destack 9 StartPos amp Direction 9 FromPos ToPos ee PickSequence __ Add waypoint before 9 StackPos z Program Installation Variable position Move the robot a variable position Use variable z ttn gt Add waypoint after Remove this waypoint Q simulation Speed 100 Previous Next gt o Real Robot A waypoint with the position given by a variable in this case calculated pos The variable has to be 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 la
170. sted to stop or when the robot arm is in a stopped position the signal will be low Reduced Mode Sends a low signal when the robot arm is placed in Reduced mode or if the safety input is configured with a Reduced Mode input and the signal is currently low Otherwise the signal is high Not Reduced Mode This is the inverse of the Reduced Mode defined above Version 3 0 II 105 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 15 12 Safety I O UNIVERSAL ROBOTS peniesei suu S v siogou Aq 4102 6002 1 Version 3 0 II 106 CB3 Category 0 stop Robot motion is stopped by immediate removal of power to the robot It is an uncontrolled stop where the robot can deviate from the programmed path as each joint brake as fast as possible This protective stop is used if a safety related limit is exceeded or in case of a fault in the safety related parts of the control system For more information see EN 15013850 2008 or IEC60204 1 2006 Category 1 stop Robot motion is stopped with power available to the robot to achieve the stop and then removal of power when the stop is achieved It is a controlled stop where the robot will continue along the programmed path Power is re moved after one second or as soon as the robot stands still For more information see EN 15013850 2008 or IEC60204 1 2006 Category 2 stop A controlled stop with power left available to the
171. t assumes a harmless environment and a very careful user Do not increase the speed or acceleration above the default values Always conduct a risk assessment before placing the robot into operation 10 2 PolyScope Programming Interface PolyScope runs on the touch sensitive screen attached to the control box CB3 Il 6 Version 3 0 10 2 PolyScope Programming Interface UNIVERSAL ROBOTS PolyScope Robot User Interface Please select Run Program UNIVERSAL ROBOTS Setup Robot About Shutdown Robot The picture above shows the Welcome Screen The bluish areas of the screen are but tons 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 Q File 154216 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables 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 cur rently loaded program If the Move tab is selected the screen changes to the Move screen from where the robot arm 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
172. t directory and displays it in the file selection area 12 15 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 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 o1d9 is the oldest File field the currently selected file is shown The user has the option to man ually 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 Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to switch 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 conven tional file dialog Added to this is the ability to move u
173. t there is a small connector with eight pins see illustration below This connector provides power and control signals for grippers and sensors used on a specific robot tool The following industrial cables are suitable e Lumberg RKMV 8 354 The eight wires inside the cable have different colors The different colors designate different functions see table below Version 3 0 1 31 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 4 Tool I O Color Signal Red 0V GND Gray 0V 412V 24V POWER Blue Digital output 8 008 Pink Digital output 9 009 Yellow Digital input 8 DI8 Green Digital input 9 DI9 White Analog input 2 AI2 Brown Analog input 3 AI3 The internal power supply can be set to either 12V or 24V at the I O tab the GUI see part II The electrical specifications are shown below Parameter Min Typ Unit Supply voltage in 24 mode 24 V Supply voltage in 12V mode 12 V Supply current in both modes 600 mA The following sections describe the different I O s of the tool DANGER 1 Construct tools and gripper so that an interruption of power does not create any hazards E g a work piece falling out of the tool 2 Take care when using 12V since an error made by the program mer can cause the voltag
174. te that safety planes can also cause a transition to Reduced mode see 15 11 3 for more details e Safeguard Reset IfSafeguard Stopis wired in the safety I Os then Safeguard Reset is used to ensure the Safeguard Stopped state continues until a reset is triggered The robot arm will not move when in Safeguard Stopped state WARNING By default the Safeguard Reset input function is configured for input pins 0 and 1 Disabling it altogether implies that the robot arm ceases to be Safeguard Stopped as soon as the Safeguard Stop in put becomes high In other words without a Safeguard Reset input the Safeguard Stop inputs 510 and 5 see the Hardware Installation Manual fully determine whether the Safeguard Stopped state is active or not Output Signals For the output signals the following Safety functions can be applied All signals return to low when the state which triggered the high signal has ended System Emergency Stop Low signal is given when the safety system has been triggered into an Emergency Stopped state It is in a high signal state otherwise Robot Moving A low signal is given whenever the robot arm is in a mobile state When the robot arm is in a fixed position a high signal is given Robot Not Stopping When the robot arm has been requested to stop some time will pass from the request until the arm stops During this time the signal will be high When the robot arm is moving and has not been reque
175. the complete robot system Version 3 0 1 45 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 6 1 Safety Instructions DANGER 1 Remove the mains input cable from the bottom of the control box to ensure that it is completely unpowered Deenergize any other source of energy connected to the robot arm or control box Take necessary precautions to prevent other persons from energizing the system during the repair period Check the earth connection before re powering the system Observe ESD regulations when parts of the robot arm or control box are disassembled Avoid disassembling the power supplies inside the control box High voltages up to 600 V can be present inside these power supplies for several hours after the control box has been switched off Prevent water and dust from entering the robot arm or control box UR10 CB3 I 46 Version 3 0 UR robots must be disposed of in accordance with the applicable national laws regu lations and standards UR robots are produced with restricted use of hazardous substances to protect the en vironment as defined by the European RoHS directive 2011 65 EU These substances include mercury cadmium lead chromium VI polybrominated biphenyls and poly brominated diphenyl ethers Fee for disposal and handling of electronic waste of UR robots sold on the Danish market is prepaid to DPA system by Universa
176. ther claims resulting out of or in connection with the device shall be excluded from this Warranty Nothing in this Warranty shall attempt 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 bur den of proof to the detriment of the customer In case of a device exhibiting defects Universal Robots shall not be liable for any indirect incidental special or consequen tial damages including but not limited to lost profits loss of use loss of production or damage to other production equipment In case of a device exhibiting defects Universal Robots shall not cover any conse quential damage or loss such as loss of production or damage to other production equipment 9 2 Disclaimer Universal Robots continues to improve reliability and performance of its products and therefore reserves the right to upgrade the product without prior warning Universal Robots takes every care that the contents of this manual are precise and correct but Version 3 0 I 51 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universa
177. tion of program lines Please enter text to be displayed in the program tree Folder Hide Folder Program Tree gt o Real Robot Speed 100 Previous Next gt 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 Version 3 0 rev 15965 II 57 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 16 Command Loop 13 16 Command Loop Q File 15 42 23 CCCC Q Program Installation Move 1 0 Log lt unnamed gt Command Graphics Structure Variables Waypoint a Set Loop Pallet ee Pattern so PalletSequence Approach Loop always 9 PatternPoint Set Wait 0 01 Loop times using variable Loop 9 Exit EN e Destack StartPos Loop as long as the following expression is true amp Direction 9 FromPos ums ToPos Ss so PickSequence ER 9 StackPos O Set Please select how many times the program in this loop should be executed Wait 9 Waypoint Wait V Folder
178. tion of the area directly above and directly below the base The reach of the robot is 1300 mm from the center of the base PolyScope is the graphical user interface GUI which lets you operate the robot arm and control box execute robot programs and easily create new ones The following section gets you started with the robot Afterwards the screens and functionality of PolyScope are explained in more detail 10 1 Getting Started Before using PolyScope the robot arm and control box must be installed and the con trol box switched on 10 1 1 Installing the Robot Arm and Control Box To install the robot arm and control box do the following 1 Unpack the robot arm and the control box 2 Mount the robot on a sturdy surface strong enough to withstand at least 10 times the full torque of the base joint and at least 5 times the weight of the robot arm The surface shall be vibration free 3 Place the control box on its foot 4 Plug on the robot cable between the robot and the control box 5 Plug in the mains plug of the control box WARNING Tipping hazard If the robot is not securely placed on a sturdy sur face the robot can fall over and cause an injury Detailed installation instructions can be found in the Hardware Installation Manual Note that a risk assessment is required before using the robot arm to do any work Version 3 0 II 3 CB3 Copyright 2009 2014 by Universal Robots A S All rights res
179. to a PLC which is not a safety PLC with the correct safety level Failure to follow this warn ing could result in serious injury or death as one of safety stop functions could be overridden It is important to keep safety in terface signals separated from the normal I O interface signals 2 All safety related signals are constructed redundantly Two in dependent channels Keep the two channels separate so that a single fault cannot lead to loss of the safety function 3 Some I O inside the control box can be configured for either normal or safety related I O Read and understand the com plete section 4 3 Version 3 0 1 19 UR10 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 4 2 Electrical warnings and cautions Copyright 2009 2014 by Universal Robots A S All rights reserved DANGER 1 Make sure that all equipment not rated for water exposure re mains dry If water comes inside the product lockout and tagout all power and then contact your supplier 2 Use original cables supplied with the robot only Do not use the robot for applications where the cables will be subjected to flexing Contact your supplier if longer or flexible cables are needed 3 Minus connections are referred to as GND and are connected to the shield of the robot and the controller box All mentioned GND connections are only for powering and signalling For PE Protective Earth use the M6 siz
180. umber in the range from 32768 to 32767 float A floating point number decimal string sequence of characters pose A vector describing the location and orientation in Cartesian space It is a combination of a position vector x y z and a rotation vector rx ry rz representing the orientation written p x y z rx ry rz list A sequence of variables Version 3 0 II 43 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 4 Command Empty 13 4 Command Empty File 154216 CCCC Program Installation Move I O Log lt unnamed gt Command Graphics Structure Variables V Robot Program lt empty gt Insert program lines here In the Structure tab you will find various program statements that can be inserted Structure gt lt gt E gt Speed 00 Previous Next gt o Real Robot 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 all lines are specified and defined CB3 II 44 Version 3 0 13 5 Command Move UNIVERSAL ROBOTS 13 5 Command Move Set oe
181. un Program and Program Robot screens Tap ping on it will show the date briefly The GUI needs to be restarted for changes to take effect Version 3 0 II 85 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved 14 6 Set Time UNIVERSAL ROBOTS peniesei suu S v siogou Aq v L02 6002 1 Version 3 0 II 86 CB3 The robot is equipped with an advanced safety system Depending on the particu lar characteristics of its workspace the settings for the safety system must be config ured to guarantee the safety of all personnel and equipment around the robot For details on the safety system see the Hardware Installation Manual The Safety Configuration screen can be accessed from the Welcome screen see 10 3 by press ing the Program Robot button selecting the Installation tab and tapping Safety The safety configuration is password protected see 15 7 File 15 43 26 CCCC O Program Installation Move Log TCP Configuration MODBUS client Features Default Program Load Save Safety Configuration Mounting General Limits Joint Limits Boundaries Safety 0 Setup A A risk assessment is always required gt Safet Select Safety Preset Mariables C Default Very restricted Intended to be used where it is particularly dangerous for the robot arm or its payload to
182. variable feature when the robot program runs moveP will move the tool linearly with constant speed with circular blends and is intended for some process operations like gluing or dispensing The size of the blend radius is by default a shared value between all the waypoints A smaller value will make the path turn sharper whereas a higher value will make the path smoother While the robot arm is moving through the waypoints with constant speed the robot control box cannot wait for either an I O operation or an oper ator action Doing so might stop the robot arm s motion or cause a protective stop A Circle Move can be added to a moveP command consisting of two waypoints the first one specifying a via point on the circular arc and the second one being the endpoint of the movement The robot will start the circle movement from its current position and then move through the two specified waypoints The orientation change of the tool through the circle move is determined only by the starting orientation and the orientation at the endpoint so the orientation of the via point does not influence the circle move A Circle Move must always be preceeded by a waypoint under the same moveP Feature selection For MoveL and MoveP it is possible to select in which feature space the waypoints un der the Move command should be represented when specifying these waypoints This means that when setting a waypoint the program will remember the tool c
183. ved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 15 5 Safety Modes The Safety System receives the values from the input fields and detects any violation of these values The Robot Arm attempts to prevent any violations of the safety system and gives a protective stop by stopping the program execution when the limit minus the tolerance is reached Note that this means that a program might not be able to perform motions very close to a limit e g the robot may not be able to obtain the exact maximum speed specified by a joint speed limit or the TCP speed limit WARNING A risk assessment is always required using the limit values without tolerances WARNING Tolerances are specific to the version of the software Updating the software may change the tolerances Consult the release notes for changes between versions 15 4 Safety Checksum The text in the top right corner of the screen gives a shorthand representation of the safety configuration currently used by the robot When the text changes this indicates that the current safety configuration has changed as well Clicking on the checksum displays the details about the currently active safety configuration 15 5 Safety Modes Under normal conditions i e when no protective stop is in effect the safety system operates in one of the following safety modes each with an associated set of safety limits Normal mode The saf
184. versal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 19 Command If 13 19 Command If File Program Installation Move VO Log 15 42 26 CCCC Q Set Wait 0 01 9 Exit If Destack 9 FromPos unnamed Command Graphics Structure Variables 9 StartPos Depending on the state of the given sensor input or program variable the following lines will ee Direction be executed 9 ToPos If o PickSequence Set Wait 9 Waypoint Wait V Folder gt Comment Halt Popup 9 V Loop Bl Script var 1 22 for P Call SubProgram 1 9 StackPos Check expression continuously 9 V EE lt Add Elself Remove Elself SubProgram 1 rr I gt Else Add Real Robot Speed 100 Previous Next gt An if 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 1f If the condition is evaluated to True the lines inside this If are executed Each can have several ElseIf and one Else command These can be added
185. x 1000 W 300 0 W MODBUS client Speed max 5000 mm s 1500 150 mm s Features J Default Program Momentum max 100 kg m s 25 3 kg m s Load Save Basic Settings l Lock Apply Here each of the general limits described in 15 9 can be modified independently of the others This is done by tapping the corresponding text field and entering the new value The highest accepted value for each of the limits is listed in the column titled Maximum The force limit can be set to a value between 100N and 250N and the power limit can be set to a value between 80W and 1000W Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 15 11 and 15 12 for more details Fur thermore the Speed and Momentum limits in Reduced mode must not be higher than their Normal mode counterparts The tolerance and unit for each limit are listed at the end of the row that corresponds to it When a program is running the speed of the robot arm is automatically adjusted in order to not exceed any of the entered values minus the tolerance see 15 3 Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value The safety system performs a category 0 stop should the robot arm exceed the limit without tolerance WARNING The speed limit is impo
186. xceed any of the entered values minus the tolerance see 15 3 Note that the minus sign displayed with each tolerance value is only there to indicate that the tolerance is subtracted from the actual entered value Nevertheless should the angular velocity of some joint exceed the entered value without tolerance the safety system performs a category 0 stop Position Range This screen defines the position range for each joint This is done by tapping the corresponding text fields and entering new values for the lower and upper joint position boundary The entered interval must fall within the values listed in the column titled Range and the lower boundary cannot exceed the upper boundary Note that the fields for limits in Reduced mode are disabled when neither a safety plane nor a configurable input is set to trigger it see 15 11 and 15 12 for more details The tolerances and unit for each limit are listed at the end of the row that corresponds to it The first tolerance value applies to the minimum value and the second applies to the maximum value Program execution is aborted when the position of a joint is about to exceed the range resulting from adding the first tolerance to the entered minimum value and subtracting the second tolerance from the entered maximum value if it continues moving along the predicted trajectory Note that the minus sign displayed with the tolerance value is only there to indicate that the tolerance is subtracted from
187. y which is allowed before the robot protective stops Units are mm and deg Test force settings The on off button Teach Test toggles the behavior of the Teach button on the back of the Teach Pendant from normal teaching mode to testing the force command When the Teach Test button is on and the Teach button on the back of the Teach Pendant is pressed the robot will perform as if the program had reached this force command and this way the settings can be verified before actually running the complete program Especially this possibility is useful for verifying that compliant axes and forces have been selected correctly Simply hold the robot TCP using one hand and press the Teach button with the other and notice in which directions the robot arm can cannot be moved Upon leaving this screen the Teach Test button automatically switches off which means the Teach button on the back of the Teach Pendant button is again used for free teach mode Note The Teach button will only be effectual when a valid feature has been selected for the Force command 13 25 Command Pallet File 15 42 27 CCCC Q Program Installation Move Log lt unnamed gt Command Graphics Structure Variables 9 amp Pallet a amp Pattern Pallet ee PalletSequence Approach A pallet operation allows the robot to perform the same sequence o
188. y which is read from the MODBUS unit on the coil specified in the address field of the signal Function code 0x02 Read Discrete Inputs is used Digital output A digital output coil is a one bit quantity which can be set to either high or low Before the value of this output has been set by the user the value is read from the remote MODBUS unit This means that function code 0x01 Read Coils is used When the output has been set by a robot program or by pressing the set signal value button the function code 0x05 Write Single Coil is used onwards Register input A register input is a 16 bit quantity read from the address speci fied in the address field The function code 0x04 Read Input Registers is used Register output A register output is a 16 bit quantity which can be set by the user Before the value of the register has been set the value of it is read from the remote MODBUS unit This means that function code 0x03 Read Holding Regis ters is used When the output has been set by a robot program or by specifying a signal value in the set signal value field function code 0x06 Write Single Register is used to set the value on the remote MODBUS unit Set signal address This field shows the address on the remote MODBUS server Use the on screen key pad to choose a different address Valid addresses depends on the manufacturer and configuration of the remote MODBUS unit Set signal name Using the on screen
189. yle of the message can be selected and the 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 execu tion item is selected the robot program halts at this popup CB3 II 54 Version 3 0 rev 15965 13 13 Command Halt UNIVERSAL ROBOTS 13 13 Command Halt o File Program Installation Move 1 0 Log 15 42 22 CCCC lt unnamed gt Waypoint V Move Waypoint Set s Pallet eo Pattern Approach Set Wait 0 01 9 Exit eo Destack 9 StartPos amp Direction 9 FromPos 9 ToPos PickSequence 9 StackPos Set Wait Waypoint Wait V Folder lt PalletSequence 9 PatternPoint Halt Program execution stops at this point Command Graphics Structure Variables o seine Speed 00 Previous Next gt The program execution stops at this point Version 3 0 rev 15965 II 55 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights reserved UNIVERSAL ROBOTS 13 14 Command Comment 13 14 Command Comment File Program Installation Move I O Log 15 42 21 CCCC Q lt
190. ze Robot Make sure that the installation and payload are correct and press the button with the green icon to initialize the robot Robot Normal Current Payload 0 00 kg OFF Installation file default Load Installation 3D View Configure Configure Mounting On this screen you control the initialization of the robot arm Robot arm state indicator The status LED gives an indicaton of the robot arm s running state Abright red LED indicates that the robot arm is currently in a stopped state where the reasons can be several A bright yellow LED indicates that the robot arm is powered on but is not ready for normal operation Finally a green LED indicates that the robot arm is powered on and ready for normal operation The text appearing next to the LED further specifies the current state of the robot arm Active payload and installation When the robot arm is powered on the payload mass used by the controller when operating the robot arm is shown in the small white text field This value can be modified by tapping the text field and entering a new value Note that setting this value does not modify the payload in the robot s installation see 12 6 it only sets the payload mass to be used by the controller Version 3 0 II 9 CB3 Copyright 2009 2014 by Universal Robots A S All rights reserved Copyright 2009 2014 by Universal Robots A S All rights res

User Manual UR10/CB3

Contents

Download Pdf Manuals

Related Search

Related Contents