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UR-6-85-5-A
Universal Robots UR-6-85-5-A User Manual
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3.4.
Pr
ogramming
Pick/Place
Sequence
Like
for
the
Pallet
operation
(3.4.22),
a
special
program
sequence
is
perf
or
med
at
each
stack
position.
66
UR-6-85-5-A
65
67
Table of Contents
Table of Contents
3
Getting Started
7
Introduction
7
The Robot
8
Programs
8
Safety Evaluation
9
Turning on and off
9
Turning on the Controller Box
9
Turning on the Robot
9
Initializing the Robot
9
Shutting down the Robot
9
Shutting down the Controller Box
10
Quick Start, Step by Step
10
Mounting Instructions
12
The Workspace of the Robot
12
Mounting the Robot
12
Mounting the Tool
12
Mounting the Controller Box
15
Mounting the Touch Panel
15
Connecting the Robot Cable
15
Connecting the Mains Cable
15
Electrical Interface
17
Introduction
17
The Emergency Stop Interface
18
The Simplest Emergency Stop Configuration
19
Connecting an External Emergency Stop Button
20
Using an External Emergency Stop Power Supply
20
Connecting to Other Machinery
20
The Pause Interface
21
Connecting to the Pause Interface
21
Controller I/O
22
Digital Outputs
23
Digital Inputs
24
Analog Outputs
26
Analog Inputs
27
Tool I/O
28
Digital Outputs
29
Digital Inputs
30
Analog Inputs
31
Polyscope Software
33
Introduction
34
Welcome Screen
35
Initialization Screen
35
On-Screen Editors
37
On-Screen Keypad
37
On-Screen Keyboard
37
On-Screen Expression Editor
38
Robot Control
38
Move Tab
38
I/O Tab
40
Automove Tab
41
Setup Mounting
42
Setup TCP Position
43
Log Tab
44
Load Screen
44
Run Tab
46
Programming
46
Program New Program
47
Program Tab
47
Program Command Tab, <Empty
48
Program Command Tab, Move
49
Program Command Tab, Fixed Waypoint
50
Program Command Tab, Relative Waypoint
51
Program Command Tab, Variable Waypoint
52
Program Command Tab, Wait
53
Program Command Tab, Action
53
Program Command Tab, Popup
54
Program Command Tab, Halt
54
Program Command Tab, Comment
55
Program Command Tab, Folder
55
Program Command Tab, Loop
56
Program Command Tab, Subprogram
56
Program Command Tab, Assignment
57
Program Command Tab, if
58
Program Command Tab, Script
59
Program Command Tab, Event
59
Program Command Tab, Thread
60
Program Command Tab, Pattern
60
Program Command Tab, Pallet
62
Program Command Tab, Stack
63
Program Graphics Tab
67
Program Structure Tab
68
Setup
69
Setup Screen
69
Setup Screen Initialize
70
Setup Screen Update
70
Setup Screen Password
71
Setup Screen Calibrate Touch Screen
71
Setup Screen Network
72
Warranties and Declarations
73
Warranty
73
Product Warranty
73
Disclaimer
73
Declaration of Incorporation
74
Product Manufacturer
74
Person Authorised to Compile the Technical Documentation
74
Description and Identification of Product
74
Essential Requirements
74
National Authority Contact Information
75
Important Notice
76
Place and Date of the Declaration
76
Identity and Signature of the Empowered Person
76
A Safety Assessment
77
CE Certification of the Robot Installation
78
Safety Requirements
78
Scoring the Risk
78
Risk Assessment
79
Example
79
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Universal Robots UR-6-85-5-A Specifications
General
Brand
Universal Robots
Model
UR-6-85-5-A
Category
Robotics
Language
English
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