Universal Robots UR10/CB3 User Manual

Undo/Redo Buttons
The buttons with icons and in the toolbar at the base of the Program Tree serve to undo and
redo changes made in the Program Tree and in the commands it contains.
Program Dashboard
The lowest part of the screen is the Dashboard. The Dashboard features a set of buttons similar
to an old-fashioned tape recorder, from which programs can be started and stopped, single-
stepped and restarted. The speed slider allows you to adjust the program speed at any time,
which directly affects the speed at which the robot arm moves. Additionally, the speed slider
shows in real time the relative speed at which the robot arm moves taking into account the
safety settings. The indicated percentage is the maximum achievable speed for the running
program without violating the safety limits.
To the left of the Dashboard the Simulation and Real Robot buttons toggle between running
the program in a simulation, or running it on the real robot. When running in simulation, the robot
arm does not move and thus cannot damage itself or any nearby equipment in collisions. Use
simulation to test programs if unsure about what the robot arm will do.
WARNING
1. Make sure to stay outside the robot workspace when the Play button is
pressed. The movement you programmed may be different than expected.
2. Only use the Step button when it is absolutely necessary. Make sure to
stay outside the robot workspace when the Step button is pressed.
3. Make sure to always test your program by reducing the speed with the
speed slider. Logic programming errors made by the integrator might cause
unexpected movements of the robot arm.
4. When a emergency stop or protective stop has occured, the robot program
will stop. It can be resumed as long as no joint has moved more than 10
∘
.
When pressing play, the robot will move slowly back onto the trajectory, and
continue program execution.
While the program is being written, the resulting motion of the robot arm is illustrated using a 3D
drawing on the Graphics tab, described in1.24.33. Graphics Tabon page201.
Next to each program command is a small icon, which is either red, yellow or green. A red icon
means that there is an error in that command, yellow means that the command is not finished,
and green means that all is OK. A program can only be run when all commands are green.
1.24.3. Variables
A robot program can make use of variables to store and update various values during runtime.
Two kinds of variables are available:
UR10 160 User Manual
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.

Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English

Summary

Preface and Manual Navigation

Robot Package Contents Overview

Lists the components received with a Universal Robots robot purchase.

Critical Safety Precautions for Robot Operation

Highlights critical safety information and the need for risk assessment before use.

Guide to Robot Manual Structure

Explains the manual's organization into Hardware Installation and PolyScope manuals.

Hardware Installation Manual

Robot Safety: Guidelines and Precautions

Essential safety information for robot operation, including risk assessment and warnings.

Robot Application Risk Assessment Procedures

Details the process and importance of conducting a risk assessment for robot integration.

Robot Emergency Stop Functionality

Describes how to activate the emergency stop and its compliance with standards.

Robot Safety Functions and Electrical Interfaces

Explains built-in safety functions and interfaces for connecting external devices.

Robot Safety Modes: Normal and Reduced

Describes Normal and Reduced modes and their associated limits.

Safety-Related Electrical Interface Connections

Details the safety-related electrical inputs and outputs for external safety devices.

Robot Mechanical Mounting and Interface

Covers robot mounting, workspace, and tool flange specifications for integration.

Robot Payload Capacity and Center of Gravity

Explains how payload capacity is affected by the center of gravity offset.

Robot Electrical Interface Details

Details electrical interfaces, including I/O, Ethernet, and connections.

Controller Input/Output (I/O) Configuration

Explains how to connect equipment to the control box's flexible I/O.

Robot Tool Interface (Tool I/O)

Details the connector and signals for robot tools, including digital and analog I/O.

Robot Maintenance and Repair Procedures

Guidelines for performing maintenance, cleaning, and repair work safely.

Robot Stopping Time and Distance Data

Provides measured stopping distances and times for Stop Category 0.

UR10 Robot Technical Specifications

Lists key technical data for the UR10 robot, including payload, reach, and speed.

Safety Functions (SF) Descriptions

Detailed descriptions of safety functions and their compliance with standards.

PolyScope Software Manual

Robot Safety Configuration Settings

Guides users on configuring safety-related functions and interfaces via the GUI.

Understanding Robot Safety Tolerances

Explains how safety tolerances prevent violations and allow operational flexibility.

Robot Safety Modes: Normal and Reduced

Describes Normal and Reduced modes and their associated limits.

Configuring General Safety Limits for Robot TCP

Details settings for maximum force, power, speed, and momentum of the robot TCP.

Setting Joint Speed and Position Limits

Explains how to restrict individual joint movements in space and speed.

Configuring Safety Inputs and Outputs

Defines safety functions for configurable inputs and outputs (I/Os).

Getting Started with Robot Programming

Guides users through initial steps for programming the robot using PolyScope.

Creating Your First Robot Program

Step-by-step guide to creating a simple robot program with waypoints.

Robot Initialization and State Indicators

Details the initialization screen for powering on and preparing the robot arm.

Controlling Robot Movement and Operations

Covers direct robot control, including manual movement and tab functions.

Using the Robot Move Tab for Jogging

Explains how to move the robot arm directly via translation or joint control.

Configuring the Tool Center Point (TCP)

Details setting up and managing Tool Center Points (TCPs) for robot programming.

Defining and Using Robot Features for Reference

Explains how to define objects (features) in the workspace for robot movements.

Robot Programming Commands

Introduces programming concepts and command types for robot automation.

Creating a New Robot Program

Options for starting a new program: from template or existing file.

Move Command for Robot Waypoint Navigation

Controls robot motion between waypoints, defining speed and acceleration.

Force Mode for Controlled Interaction

Suits applications requiring desired force along an axis for interaction or pushing.

Conveyor Tracking Setup for Motion Synchronization

Configures the robot to track conveyor movement using encoders or MODBUS.

Visualizing Robot Program Paths in 3D

Provides a 3D graphical representation of the robot program path and waypoints.

Robot Setup and Configuration

Accesses settings for initialization, language, network, passwords, and updates.

Setting Robot Interface Language and Units

Configures the language, units, and keyboard layout for the PolyScope interface.

Configuring System and Safety Passwords

Sets system passwords for unauthorized access prevention and safety passwords.

Calibrating the Touch Screen Interface

Guides users through calibrating the touch screen for accurate input.

EUROMAP 67 Interface for IMM Integration

Information on integrating the robot with injection molding machines via EUROMAP 67.

Conformance to the EUROMAP 67 Standard

Details the robot's conformity with the EUROMAP 67 standard.

Robot and IMM Integration Guide

Provides information for integrators on connecting robots with IMMs.

Shared Emergency and Safeguard Stop Signals

Explains how emergency stop and safeguard signals are shared between robot and IMM.

Connecting a MAF Light Guard

Describes connecting a light guard to prevent mould closing accidents.

Graphical User Interface (GUI) Functions

Describes how the EUROMAP 67 interface is controlled through the GUI.

EUROMAP 67 I/O Overview and Troubleshooting

Details the EUROMAP 67 I/O layout and common troubleshooting steps.

Customizing EUROMAP 67 Program Structures

Explains the seven available program structures for IMM interaction.

Installing and Uninstalling EUROMAP 67 Interface

Procedures for installing and removing the EUROMAP 67 interface.

Electrical Characteristics for EUROMAP 67 Interface

Provides electrical specifications for MAF signals, emergency stop, and I/O.

Glossary of Robot and Automation Terms

Definitions of key terms used throughout the manual.

Manual Index

An alphabetical index of topics covered in the manual with page references.