Universal Robots UR16e

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Call Subroutine A call to a Subroutine will run the program lines in the SubProgram, and

then return to the following line.

UR16e 240 User Manual

Main Page

Table of Contents7
Preface12
Part I Hardware Installation Manual15
Safety16
Validity and Responsibility17
Limitation of Liability17
Safety Message Types18
General Warnings and Cautions19
Intended Use21
Risk Assessment23
Pre-Use Assessment25
Emergency Stop26
Movement Without Drive Power27
Safety-Related Functions and Interfaces28
Stop Categories29
Configurable Safety Functions30
Safety Functions34
Safety Parameter Set35
Modes37
Mechanical Interface38
Workspace and Operating Space38
Mounting Description39
Securing the Robot Arm40
Securing Tool41
Control Box Clearance42
Maximum Payload44
Electrical Interface46
Electrical Warnings and Cautions46
Controller I/O48
Safety I/O50
Three Position Enabling Device54
General Purpose Digital I/O56
General Purpose Analog I/O57
Remote ON/OFF Control58
Control Box Bracket60
Ethernet60
Mains Connections61
Robot Connections: Robot Cable63
Robot Connections: Base Flange Cable64
Tool I/O65
Tool Power Supply66
Tool Digital Outputs67
Tool Digital Inputs68
Tool Analogue Inputs68
Tool Communication I/O69
Transportation70
Transport Without Packaging71
Maintenance and Repair72
Cleaning73
Inspection73
Robot Arm Inspection Plan73
Robot Arm Visual Inspection74
Freedrive Inspection75
Control Box Inspection Plan76
Disposal and Environment77
Certifications78
Stopping Time and Stopping Distance80
Robot Scenario 1: 10 Kg80
Robot Scenario 2: 12.5 Kg83
Declarations and Certificates (Original EN)87
Warranty Information89
Certificates90
Applied Standards95
Technical Specifications99
Safety Functions Table100
Table109
Part II Polyscope Manual113
Introduction115
Robot Arm Basics115
Robot Arm Installation116
Polyscope Overview120
Icons/Tabs on Polyscope121
Freedrive123
Freedrive Panel125
Backdrive126
Backdrive Inspection128
Quick System Start-Up130
The First Program131
Robot Cyber Security133
Operational Mode Selection134
Software Safety Configuration137
Setting a Software Safety Password139
Changing the Software Safety Configuration140
Applying a New Software Safety Configuration141
Safety Checksum141
Safety Configuration Without Teach pendant143
Software Safety Modes143
Software Safety Limits144
Robot Limits144
Joint Limits146
Safety I/O149
Software Safety Restrictions153
Tool Direction Restriction161
Tool Position Restriction163
Safe Home Position167
Run Tab169
Move Robot into Position172
Program173
Variables173
Program Tab175
Robot Program Configuration177
Program Tree Toolbar179
Variable Setup179
Command Tab182
Graphics Tab185
Variables Tab187
Expression Editor188
Starting a Program from a Selected Program Node189
Using Breakpoints in a Program190
Single Step in a Program193
Basic Program Nodes195
Move195
Waypoints199
Direction222
Wait224
Set229
Popup231
Halt234
Comment235
Folder236
Set Payload237
Advanced Program Nodes238
Loop238
Subprogram239
Assignment241
Script243
Event244
Thread244
Switch245
Timer247
Home247
Templates250
Seek250
Force254
Palletizing258
Conveyor Tracking264
Screwdriving266
Urcaps269
Installation Tab278
TCP Configuration278
Teaching TCP Position280
Payload281
Mounting284
I/O Setup285
Installation Variables288
Startup291
Tool I/O292
Analog Input - Communication Interface292
Digital Output Mode293
Smooth Transition293
Home294
Conveyor Tracking Setup295
Screwdriving Setup296
Safety299
Features299
Feature Edit306
Fieldbus307
MODBUS Client I/O Setup307
Ethernet/Ip310
Profinet311
Profisafe311
Move Tab317
Pose Editor Screen320
I/O Tab322
Modbus324
Log Tab325
Program and Installation Manager328
File Manager332
Hamburger Menu333
About333
Help334
Settings336
Preferences336
Password337
System339
Security346
Shutdown Robot351
Glossary352
Index353

Universal Robots UR16e

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