1.2. Turning On and Off
Features
Besides moving through waypoints, the program can send I/O signals to other
machines at certain points in the robot’s path, and perform commands like
if..then and loop, based on variables and I/O signals.
1.1.3 Safety Evaluation
The robot is a machine and as such a safety evaluation is required for each
installation of the robot. Appendix A.1 describes how to perform a safety evalu-
ation.
1.2 Turning On and Off
How to turn the different parts of the robot system on and off is described in the
following subsections.
1.2.1 Turning on the Controller Box
The controller box is turned on by pressing the ’On’ button, at the front side of
the controller box. When the controller box is turned on, a lot of text will appear
on the screen. After about 30 seconds, the Universal Robot’s Logo will appear,
with the text ’Loading’. After around 70 seconds, a few buttons appear on the
screen and a popup will force the user to go to the initialization screen.
1.2.2 Turning on the Robot
The robot can be turned on if the controller box is turned on, and if all emer-
gency stop buttons are not activated. Turning the robot on is done at the initial-
ization screen, by touching the ’ON’ button at the screen. When it is turned on,
a noise can be heard as the brakes unlock. After the robot has been turned on,
it needs to be initialized before it can begin to perform work.
1.2.3 Initializing the Robot
After the robot is powered up, each of the robot’s joints needs to find its ex-
act position, by moving to a home position. Each large joint has around 20
home positions, evenly distributed over one joint revolution. The small joints have
around 10. The Initialization screen, shown in figure 1.1, gives access to manual
and semi-automatic driving of the robot’s joints, to move them to a home po-
sition. The robot cannot automatically avoid collision with itself or the surrounds
during this process. Therefor, caution should be exercised.
The Auto button near the top of the screen drives all joints until they are
ready. When released and pressed again, all joints change drive direction. The
Manual buttons permit manual driving of each joint.
A more detailed description of the initialization screen is found in section 3.1.2.
1.2.4 Shutting Down the Robot
The power to the robot can be turned off by touching the ’OFF’ button at the
initialization screen. Most users do not need to use this feature since the robot is
9 UR-6-85-5-A
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