Universal Robots E Series User Manual

Universal Robots E Series

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Page #240 background image

Call Subroutine A call to a Subroutine will run the program lines in the SubProgram, and then return to

the following line.

UR10e 240 User Manual

Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.

Table of Contents

1. Preface12
Part I Hardware Installation Manual15
2. Safety16
- 2.1. Validity and Responsibility17
- 2.2. Limitation of Liability17
- 2.3. Safety Message Types18
- 2.4. General Warnings and Cautions19
- 2.5. Intended Use21
- 2.6. Risk Assessment23
- 2.7. Pre-Use Assessment25
- 2.8. Emergency Stop26
- 2.9. Movement Without Drive Power27
- 2.10. Safety-related Functions and Interfaces28
3. Mechanical Interface38
- 3.1. Workspace and Operating Space38
- 3.2. Mounting Description39
- 3.3. Securing the Robot Arm40
- 3.4. Securing Tool41
- 3.5. Control Box Clearance42
- 3.6. Maximum Payload44
4. Electrical Interface46
- 4.1. Electrical Warnings and Cautions46
- 4.2. Controller I/O48
- 4.3. Safety I/O50
- 4.4. Three Position Enabling Device54
- 4.5. General Purpose Digital I/O56
- 4.6. General Purpose Analog I/O57
- 4.7. Remote ON/OFF Control58
- 4.8. Control Box Bracket60
- 4.9. Ethernet60
- 4.10. Mains Connections61
- 4.11. Robot Connections: Robot Cable63
- 4.12. Robot Connections: Base Flange Cable64
- 4.13. Tool I/O65
- 4.14. Tool Power Supply66
- 4.15. Tool Digital Outputs67
- 4.16. Tool Digital Inputs68
- 4.17. Tool Analogue Inputs68
- 4.18. Tool Communication I/O69
5. Transportation70
- 5.1. Transport Without Packaging71
6. Maintenance and Repair72
- 6.1. Cleaning73
- 6.2. Inspection73
7. Disposal and Environment77
8. Certifications78
9. Stopping Time and Stopping Distance80
- 9.1. Robot Scenario 1: 10 kg.80
- 9.2. Robot Scenario 2: 12.5 kg.83
10. Declarations and Certificates (original EN)87
11. Warranty Information89
12. Certificates90
13. Applied Standards95
14. Technical Specifications99
15. Safety Functions Table 1100
- 15.1. Table 1a108
- 15.2. Table 2109
Part II PolyScope Manual113
16. Introduction115
- 16.1. Robot Arm Basics115
- 16.2. Robot Arm Installation116
- 16.3. PolyScope Overview120
  - 16.3.1. Icons/Tabs On PolyScope121
- 16.4. Freedrive123
  - 16.4.1. Freedrive Panel125
- 16.5. Backdrive126
  - 16.5.1. Backdrive Inspection128
- 16.6. Quick System Start-up130
- 16.7. The First Program131
- 16.8. Robot Cyber Security133
- 16.9. Operational Mode Selection134
17. Software Safety Configuration137
- 17.1. Setting a Software Safety Password139
- 17.2. Changing the Software Safety Configuration140
- 17.3. Applying a New Software Safety Configuration141
  - 17.3.1. Safety Checksum141
- 17.4. Safety Configuration without Teach Pendant143
- 17.5. Software Safety Modes143
- 17.6. Software Safety Limits144
  - 17.6.1. Robot Limits144
  - 17.6.2. Joint Limits146
- 17.7. Safety I/O149
- 17.8. Software Safety Restrictions153
  - 17.8.1. Tool Direction Restriction161
  - 17.8.2. Tool Position Restriction163
- 17.9. Safe Home Position167
18. Run Tab169
- 18.1. Move Robot into Position172
- 18.2. Program173
- 18.3. Variables173
19. Program Tab175
- 19.1. Robot Program Configuration177
- 19.2. Program Tree Toolbar179
- 19.3. Expression Editor188
- 19.4. Starting a Program from a Selected Program Node189
- 19.5. Using Breakpoints in a Program190
- 19.6. Single Step in a Program193
- 19.7. Basic program nodes195
- 19.8. Advanced program nodes238
- 19.9. Templates250
- 19.10. URCaps269
20. Installation Tab278
- 20.1. TCP Configuration278
  - 20.1.1. Teaching TCP Position280
- 20.2. Payload281
- 20.3. Mounting284
- 20.4. I/O Setup285
- 20.5. Installation Variables288
- 20.6. Startup291
- 20.7. Tool I/O292
  - 20.7.1. Analog Input - Communication Interface292
  - 20.7.2. Digital Output Mode293
- 20.8. Smooth Transition293
- 20.9. Home294
- 20.10. Conveyor Tracking Setup295
- 20.11. Screwdriving Setup296
- 20.12. Safety299
- 20.13. Features299
  - 20.13.1. Feature Edit306
- 20.14. Fieldbus307
21. Move Tab317
- 21.1. Pose Editor Screen320
22. I/O Tab322
- 22.1. MODBUS324
23. Log Tab325
24. Program and Installation Manager328
- 24.1. File Manager332
25. Hamburger menu333
- 25.1. About333
  - 25.1.1. Help334
- 25.2. Settings336
- 25.3. Shutdown Robot351
26. Glossary352
- 26.1. Index353

Other manuals for Universal Robots E Series

Service Manual205 pages

Hardware Manual103 pages

Original Instructions291 pages

Installation Guide36 pages

Manual108 pages

Troubleshooting8 pages

Questions and Answers:

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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)

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