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Universal Robots UR10/CB3 User Manual
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Software
Vers
i
on:
3.14
U
ser
M
an
ual
2
4
1
U
R1
0
2
.
Gloss
ary
Copyr
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t
©
2009–2020
by
Uni
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a
l
R
obot
s
A/
S.
Al
l
r
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t
s
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248
Table of Contents
Default Chapter
3
Table of Contents
3
1 Preface
9
What Do the Boxes Contain
9
Important Safety Notice
9
How to Read this Manual
10
Where to Find more Information
10
Part I Hardware Installation Manual
11
Safety
13
Introduction
13
Validity and Responsibility
13
Limitation of Liability
14
Warning Symbols in this Manual
14
General Warnings and Cautions
15
Intended Use
17
Risk Assessment
18
Emergency Stop
19
Movement with and Without Drive Power
20
Safety-Related Functions and Interfaces
21
Introduction
21
Stopping Times of the Safety System
22
Limiting Safety-Related Functions
22
Safety Modes
24
Safety-Related Electrical Interfaces
25
Transportation
29
Mechanical Interface
31
Introduction
31
Workspace of the Robot
31
Mounting
31
Maximum Payload
34
Electrical Interface
37
Introduction
37
Electrical Warnings and Cautions
37
Controller I/O
38
Tool I/O
49
Ethernet
53
Mains Connection
53
Robot Connection
55
Maintenance and Repair
57
Safety Instructions
57
Cleaning
58
Disposal and Environment
59
Certifications
59
Warranties
63
Product Warranty
63
Disclaimer
63
Stopping Time and Stopping Distance
65
Stop Category 0 Stopping Distances and Times
65
Declarations and Certificates
65
Applied Standards
77
Technical Specifications
84
Safety Functions Tables
85
Part II Polyscope Manual
93
Safety Configuration
95
Introduction
95
Changing the Safety Configuration
97
Safety Synchronization and Errors
97
Tolerances
98
Safety Checksum
98
Safety Modes
99
Freedrive Mode
99
Password Lock
100
Apply
100
General Limits
101
Basic Settings
102
Switching to Advanced Settings
102
Advanced Settings
102
Switching to Basic Settings
103
Joint Limits
104
Maximum Speed
104
Position Range
105
Boundaries
105
Name
107
Copy Feature
108
Safety Mode
108
Displacement
109
Effect of Strict Limit Planes
109
Effect of Trigger Reduced Mode Planes
109
Deviation
110
Copy Feature
111
Safety Mode
111
Effect
111
Safety I/O
112
System Emergency Stop
112
Reduced Mode
113
Safeguard Reset
113
Three-Position Enabling Device and Operational Mode
113
System Emergency Stop
114
Robot Moving
115
Robot Not Stopping
115
Reduced Mode
115
Not Reduced Mode
115
Begin Programming
117
Introduction
117
Getting Started
117
The First Program
119
Polyscope Programming Interface
120
Welcome Screen
121
Initialization Screen
122
On-Screen Editors
125
On-Screen Expression Editor
125
Pose Editor Screen
125
Robot Control
129
Move Tab
129
I/O Tab
131
Modbus
132
Automove Tab
133
Installation → Load/Save
134
Installation → TCP Configuration
135
Installation → Mounting
138
Installation → I/O Setup
140
Installation → Safety
142
Installation → Variables
142
Installation → MODBUS Client I/O Setup
144
Installation → Features
148
Conveyor Tracking Setup
156
Smooth Transition between Safety Modes
157
Installation → Default Program
157
Log Tab
159
Load Screen
161
Path History
162
File Selection Area
162
File Filter
162
File Field
162
Open Button
162
Cancel Button
162
Action Buttons
162
Run Tab
163
Programming
165
New Program
165
Program Tab
166
Variables
168
Command: Move
169
Command: Fixed Waypoint
173
Example
174
Blend Parameters
174
Conditional Blend Trajectories
175
Trajectory Type Combinations
176
Command: Relative Waypoint
179
Command: Variable Waypoint
180
Command: Direction
180
Command: until
181
Command: Wait
183
Command: Set
184
Command: Popup
185
Command: Halt
186
Command: Comment
187
Command: Folder
188
Command: Loop
189
Command: if
189
Command: Subprogram
191
Command: Assignment
193
Command: Script
194
Command: Event
195
Command: Thread
196
Command: Switch
197
Command: Pattern
199
Command: Force
200
Force Value Selection
202
Limits Selection
203
Test Force Settings
203
Command: Pallet
204
Command: Seek
205
Command: Conveyor Tracking
209
Command: Suppress
209
Graphics Tab
209
Structure Tab
211
Variables Tab
212
Command: Variables Initialization
213
Setup Screen
215
Language and Units
216
Update Robot
217
Set Password
218
Calibrate Screen
219
Setup Network
220
Set Time
221
Urcaps Setup
222
EUROMAP 67 Interface
223
Introduction
223
EUROMAP 67 Standard
224
Statutory Notice
224
Robot and IMM Integration
225
Emergency Stop and Safeguard Stop
225
Connecting a MAF Light Guard
226
Mounting the Robot and Tool
226
Using the Robot Without an IMM
226
EUROMAP 12 to EUROMAP 67 Conversion
226
Gui
227
EUROMAP 67 Program Template
227
I/O Overview and Troubleshooting
229
Program Structure Functionality
231
I/O Action and Wait
238
Installing and Uninstalling the Interface
239
Installing
239
Uninstalling
240
Electrical Characteristics
240
MAF Light Guard Interface
241
Emergency Stop, Safety Devices and MAF Signals
241
Digital Inputs
242
Digital Outputs
242
2 Glossary
243
Index
244
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Universal Robots UR10/CB3 Specifications
General
Brand
Universal Robots
Model
UR10/CB3
Category
Robotics
Language
English
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