Universal Robots UR-6-85-5-A

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3.4. Programming

Pick/Place Sequence

Like for the Pallet operation (3.4.22), a special program sequence is performed

at each stack position.

66 UR-6-85-5-A

Main Page

Table of Contents3
Getting Started7
Introduction7
The Robot8
Programs8
Safety Evaluation9
Turning on and off9
Turning on the Controller Box9
Turning on the Robot9
Initializing the Robot9
Shutting down the Robot9
Shutting down the Controller Box10
Quick Start, Step by Step10
Mounting Instructions12
The Workspace of the Robot12
Mounting the Robot12
Mounting the Tool12
Mounting the Controller Box15
Mounting the Touch Panel15
Connecting the Robot Cable15
Connecting the Mains Cable15
Electrical Interface17
Introduction17
The Emergency Stop Interface18
The Simplest Emergency Stop Configuration19
Connecting an External Emergency Stop Button20
Using an External Emergency Stop Power Supply20
Connecting to Other Machinery20
The Pause Interface21
Connecting to the Pause Interface21
Controller I/O22
Digital Outputs23
Digital Inputs24
Analog Outputs26
Analog Inputs27
Tool I/O28
Digital Outputs29
Digital Inputs30
Analog Inputs31
Polyscope Software33
Introduction34
Welcome Screen35
Initialization Screen35
On-Screen Editors37
On-Screen Keypad37
On-Screen Keyboard37
On-Screen Expression Editor38
Robot Control38
Move Tab38
I/O Tab40
Automove Tab41
Setup Mounting42
Setup TCP Position43
Log Tab44
Load Screen44
Run Tab46
Programming46
Program New Program47
Program Tab47
Program Command Tab, <Empty48
Program Command Tab, Move49
Program Command Tab, Fixed Waypoint50
Program Command Tab, Relative Waypoint51
Program Command Tab, Variable Waypoint52
Program Command Tab, Wait53
Program Command Tab, Action53
Program Command Tab, Popup54
Program Command Tab, Halt54
Program Command Tab, Comment55
Program Command Tab, Folder55
Program Command Tab, Loop56
Program Command Tab, Subprogram56
Program Command Tab, Assignment57
Program Command Tab, if58
Program Command Tab, Script59
Program Command Tab, Event59
Program Command Tab, Thread60
Program Command Tab, Pattern60
Program Command Tab, Pallet62
Program Command Tab, Stack63
Program Graphics Tab67
Program Structure Tab68
Setup69
Setup Screen69
Setup Screen Initialize70
Setup Screen Update70
Setup Screen Password71
Setup Screen Calibrate Touch Screen71
Setup Screen Network72
Warranties and Declarations73
Warranty73
Product Warranty73
Disclaimer73
Declaration of Incorporation74
Product Manufacturer74
Person Authorised to Compile the Technical Documentation74
Description and Identification of Product74
Essential Requirements74
National Authority Contact Information75
Important Notice76
Place and Date of the Declaration76
Identity and Signature of the Empowered Person76
A Safety Assessment77
CE Certification of the Robot Installation78
Safety Requirements78
Scoring the Risk78
Risk Assessment79
Example79

Universal Robots UR-6-85-5-A

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