Name: Universal Robots E Series
Brand: Universal Robots
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UR5e 118 User Manual

20.Operational Mode Selection

Table of Contents5
Preface15
What Do the Boxes Contain16
Important Safety Notice17
How to Read this Manual17
Where to Find more Information17
UR Forums17
Part I Hardware Installation Manual19
Safety21
Introduction21
Validity and Responsibility21
Limitation of Liability22
Warning Symbols in this Manual22
General Warnings and Cautions23
Intended Use25
Risk Assessment26
Pre-Use Assessment28
Emergency Stop29
Movement Without Drive Power29
Safety-Related Functions and Interfaces31
Introduction31
Stop Categories31
Configurable Safety Functions32
Safety Function36
Modes36
Transportation39
Mechanical Interface41
Introduction41
Workspace of the Robot41
Mounting41
Maximum Payload44
Payload Inertia45
Electrical Interface46
Introduction46
Control Box Bracket46
Ethernet46
Electrical Warnings and Cautions47
Controller I/O49
Common Specifications for All Digital I/O50
Safety I/O51
General Purpose Digital I/O56
Digital Inputs from a Button56
Communication with Other Machines or Plcs57
General Purpose Analog I/O57
Remote ON/OFF Control58
Mains Connection59
Robot Connection: Robot Cable61
Robot Cable Connector61
Robot Connection: Base Flange Cable62
Base Flange Cable Connector62
Tool I/O63
Tool Power Supply64
Power Supply64
Dual Pin Power Supply64
Tool Digital Outputs65
Tool Digital Inputs66
Tool Analog Input67
Tool Communication I/O68
Maintenance and Repair69
Safety Instructions69
Cleaning70
Inspection70
Robot Arm Inspection Plan70
Robot Arm Visual Inspection71
Control Box Inspection Plan72
Control Box Visual Inspection72
Freedrive Inspection73
Disposal and Environment74
Certifications75
Warranties77
Product Warranty77
Disclaimer78
Stopping Time and Stopping Distance79
Declarations and Certificates82
Certificates84
Applied Standards92
Technical Specifications97
Safety Functions Tables99
Table99
Table107
Part II Polyscope Manual111
Introduction113
Robot Arm Basics113
Polyscope Basics113
Touch Screen114
Header Icons/Tabs114
Footer Buttons116
Installation116
Installing the Robot Arm and Control Box116
Turning the Control Box On/Off117
Initialization117
Starting up the Robot Arm118
Quick System Start-Up119
The First Program119
Robot Registration and Urcap License Files120
Registering the Robot from Your Current Screen121
Downloading the URCAP License File121
Unregistering Robot122
Robot Cyber Security122
Cyber Security Pre-Requisites122
Hardening Cyber Security123
Freedrive125
Enabling Freedrive: Standard Teach Pendant126
Using the Freedrive Button127
Using the Freedrive Button on the Move Tab Screen127
Enabling Freedrive: 3PE Teach Pendant127
Backdrive128
Enabling Backdrive: Standard Teach Pendant128
Enabling Backdrive: 3PE Teach Pendant128
Operational Mode Selection129
Operational Modes129
Three-Position Enabling Device131
Manual High Speed131
Safety Configuration133
Safety Settings Basics133
Accessing Safety Configuration133
Setting a Safety Password134
Changing the Safety Configuration134
Applying New Safety Configuration135
Safety Checksum135
Safety Menu Settings135
Robot Limits135
Safety Modes137
Tolerances138
Joint Limits138
Planes139
Modes139
Configuring Safety Planes140
Elbow141
Color Codes141
Freedrive142
Using the Freedrive Button142
Backdrive142
Enabling Backdrive142
Tool Position143
Tool Direction144
Limit Properties145
Tool Properties146
I/O146
Input Signals146
Output Signals147
OSSD Safety Signals148
Hardware149
Selecting Available Hardware149
Safe Home Position149
Syncing from Home150
Safe Home Output150
Defining Safe Home Output150
Edit Safe Home150
Editing Safe Home151
Run Tab153
Program153
Variables153
Robot Age154
Move Robot into Position154
Accessing the Move Robot into Position Screen154
Move Robot to155
Manual155
Program Tab157
Program Tree157
Program Execution Indication158
Search Button158
Program Tree Toolbar158
Undo/Redo Buttons158
Move up & down158
Cut158
Copy159
Paste159
Delete159
Suppress159
Command: Suppress159
Expression Editor159
Command: Variables Initialization160
Starting a Program from a Selected Node161
Using Play from Selection161
Using Breakpoints in a Program161
Single Step in a Program163
Command Tab163
Graphics Tab164
Variables Tab165
Basic Program Nodes166
Move166
Fixed Waypoint169
Relative Waypoint174
Variable Waypoint175
Direction176
Until177
Until-Tool Contact177
Wait179
Set180
Popup180
Halt181
Comment182
Folder182
Set Payload183
Advanced Program Nodes184
Loop184
Subprogram186
Assignment187
Script187
Event188
Thread189
Switch189
Timer190
Home191
Templates191
Palletizing191
Seek197
Force201
Force Value Selection203
Speed Limits203
Test Force Settings203
Conveyor Tracking204
Screwdriving205
Screwdrive until206
Urcaps207
Remote TCP and Toolpath Urcap207
Remote TCP Movement Types209
Remote TCP Waypoint209
Remote TCP Toolpath210
Remote TCP212
Remote TCP PCS212
Regular TCP Toolpath Moves215
Installation Tab219
General219
TCP Configuration219
Position219
Orientation219
Adding, Renaming, Modifying and Removing Tcps220
Teaching TCP Position220
Teaching TCP Orientation221
Payload221
Adding, Renaming, Modfying and Removing Payloads222
Setting the Center of Gravity222
Payload Estimation223
Inertia223
Mounting224
I/O Setup225
I/O Signal Type225
Assigning User-Defined Names226
I/O Actions and I/O Tab Control226
Installation Variables228
Startup229
Loading a Startup Program230
Starting a Startup Program230
Tool I/O230
I/O Interface Control230
Tool Analog Inputs231
Tool Communication Interface231
Configuring the Tool Communication Interface (TCI)231
Digital Output Mode231
Dual Pin Power232
Smooth Transition between Safety Modes232
Adjusting Acceleration/Deceleration Settings232
Home233
Defining Home233
Conveyor Tracking Setup233
Defining a Conveyor234
Conveyor Parameters234
Tracking Parameters234
Screwdriving Setup235
Configuring a Screwdriver235
Configuring the Screwdriver Position235
Configuring the Screwdriver Interface237
Safety237
Features237
Using a Feature239
Using Move here239
Point Feature239
Line Feature240
Plane Feature241
Example: Manually Updating a Feature to Adjust a Program242
Example: Dynamically Updating a Feature Pose243
Feature Edit245
Fieldbus246
MODBUS Client I/O Setup247
Refresh247
Add Unit247
Delete Unit247
Set Unit IP247
Sequential Mode248
Add Signal248
Delete Signal248
Set Signal Type248
Set Signal Address249
Set Signal Name249
Signal Value249
Signal Connectivity Status249
Show Advanced Options250
Advanced Options250
Ethernet/Ip250
Move Tab253
Move Tool253
Robot253
Feature254
Active TCP254
Home254
Freedrive254
Align254
Tool Position254
Joint Position254
Pose Editor Screen255
I/O Tab259
Robot259
Modbus260
Log Tab263
Readings and Joint Load263
Date Log263
Saving Error Reports264
Technical Support File265
Program and Installation Manager267
Open267
New268
Save269
File Manager270
Hamburger Menu273
Help273
About273
Settings273
Preferences273
Password274
System275
Backup and Restore275
Update275
Network276
Managing Urcaps276
Remote Control277
Security278
Running Magic Files278
Configure Inbound Connections279
Authentication280
Managing Authorized Keys280
Shutdown Robot280
Glossary282
Index283

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English

Universal Robots E Series Original Instructions

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