Universal Robots E Series User Manual

Description The Popup is a message that appears on the screen when the program reaches the
Popup node in the program tree.
Popup messages are limited to a maximum of 255 characters. You can choose to use
different popup message types.
•
Message
•
Warning
•
Error
A popup always pauses the main robot program. The main robot program is paused
while the popup is active.
When to use:
•
When you wish to continue or stop your program.
•
When you wish to create a message to inform users.
•
When you wish to control your part of a robot program.
Add a Popup to a
robot program
1. In your robot program, select the place or node where you wish to add a Popup
command.
2. Under Basic, tap Popup.
3. Add your text or choose a variable
4. Choose the popup type. The only change is the icon of the popup.
Tip You can also select Halt program execution at this popup for the program to stop
when the popup appears.
Example:Popup In a pick and place program, you can add a Message popup when the pallet is full and
you need to add an empty pallet.
During an inspection, you can add a Warning popup where you inspect an object. If the
inspection is OK, continue the program. If the inspection is NOTOK, stop the program.
UR10e 232 User Manual
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Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)