Universal Robots E Series User Manual

Continuous Pulse
Alternates between high and low Running
(pause or stop
the program to
maintain the
pulse state)
Program
Termination
Cause
NOTICE
A program is terminated unscheduled if any of the following occur:
•
Robot stop
•
Fault
•
Violation
•
Runtime exception
20.5. Installation Variables
Description Variables created on the Installation Variables pane are called installation variables
and are used like normal program variables. Installation variables are distinct because
they keep their value even if a program stops then starts again, and when the robot
arm and/or Control Box is powered down and powered up again.
UR10e 288 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.

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)

Summary

1. Preface

How to Read This Manual

Explains the manual's structure, intended audience, and how to interpret its content.

2. Safety

Validity and Responsibility in Robot Safety

Defines integrator responsibilities for ensuring safety laws and regulations are followed in robot applications.

General Safety Warnings and Cautions

Provides essential safety practices to prevent injury and damage during robot installation and operation.

Robot Risk Assessment Procedures

Outlines the legal requirement and methodology for performing a robot application risk assessment.

Emergency Stop Functionality

Describes the robot's emergency stop button, its function as a stop category one, and the reset procedure.

Safety Functions and Interfaces Overview

Details built-in safety functions and I/O for connecting protective devices and enabling collaborative applications.

3. Mechanical Interface

Robot Mounting and Component Description

Explains the mounting procedures for the robot arm, control box, and teach pendant.

Robot Maximum Payload Specifications

Details the robot's payload capacity, center of gravity offset, and factors affecting acceleration.

4. Electrical Interface

Electrical Interface Safety Warnings

Lists critical warnings regarding electrical connections, PLC safety, and EMC compatibility.

Controller I/O Layout and Configuration

Illustrates the layout of electrical interface groups within the control box and I/O color schemes.

Safety I/O Configuration and Types

Describes dedicated safety inputs like Emergency Stop, Safeguard Stop, and 3PE Stop for protective devices.

Robot Cable Connection Procedure

Explains the procedure for connecting the robot arm cable to the control box.

Tool I/O Configuration

Details the functionality and specifications of the tool I/O connector.

9. Stopping Time and Stopping Distance

Stopping Time and Distance: 10 kg Payload

Presents graphical data illustrating stopping distance and time with a 10kg payload under various conditions.

Stopping Time and Distance: 12.5 kg Payload

Presents graphical data illustrating stopping distance and time with a 12.5kg payload under various conditions.

14. Technical Specifications

UR10e Robot Technical Specifications

Lists key technical specifications for the UR10e robot, including weight, reach, speed, and IP classification.

16. Introduction

Robot Arm Installation Steps

Provides essential steps for unpacking, mounting, and connecting the robot arm and control box.

PolyScope Interface Overview

Gives an overview of the PolyScope graphical user interface on the Teach Pendant.

Using Robot Freedrive Mode

Explains how to manually move robot arm joints with released brakes for positioning.

17. Software Safety Configuration

Setting Software Safety Password

Details the process of setting a password to unlock and configure robot safety settings.

Software Safety Modes Explained

Introduces Normal, Reduced, and Recovery safety modes and their associated safety limits.

Configuring Safety I/O Signals

Explains safety I/O signals for functions like Emergency Stop, Reduced Mode, and 3-Position Enabling Device.

Software Safety Restrictions Setup

Covers defining safety planes and restricting robot tool and elbow movement for enhanced safety.

19. Program Tab

Robot Program Configuration Options

Covers settings for the entire robot program, including start sequences, variable initialization, and looping.

Move Command for Robot Programming

Explains the Move command for controlling robot motion between waypoints.

Waypoints in Robot Programs

Details how waypoints define robot movement destinations in programs.

URCaps for Extended Functionality

Details how to manage existing URCaps or install new ones to extend robot functionality.

20. Installation Tab

Tool Center Point (TCP) Configuration

Explains how to define and configure Tool Center Points (TCPs) for robot tools and accessories.

Robot Payload and Center of Gravity Setup

Details setting payload, CoG, and inertia for optimal robot performance and safe operation.

Configuring Robot I/O Signals and Actions

Covers defining I/O signals, assigning names, and configuring actions for physical and fieldbus I/Os.

Defining and Using Features in Robot Programs

Explains how to define objects in the workspace as features for program reference and relative movements.

21. Move Tab

Pose Editor for Joint and TCP Configuration

Explains how to precisely configure target joint positions and TCP poses for robot movements.

25. Hamburger menu

Managing PolyScope Passwords

Details password management for safety settings and operational modes.

Robot Security Settings and Configuration

Covers system security, including admin password, network access, and magic files.

Robot Shutdown and Restart Procedure

Explains the procedure for safely powering off or restarting the robot controller.