11 Begin programming
11.1 Introduction
The Universal Robot arm is composed of tubes and joints. The joints with their usual names are
shown in Figure 11.1. The Base is where the robot is mounted, and at the other end (Wrist 3) the
tool of the robot is attached. By coordinating the motion of each of the joints, the robot can move
its tool around freely, with the exception of the area directly above and directly below the base.
PolyScope is the graphical user interface (GUI) which lets you operate the robot arm and control
box, execute robot programs and easily create new ones.
The following section gets you started with the robot. Afterwards, the screens and functionality of
PolyScope are explained in more detail.
DANGER:
1. The Hardware Installation Manual contains important safety in-
formation, which must be read and understood by the integra-
tor of UR robots before the robot is powered on for the first time.
2. The integrator must set the safety configuration parameters de-
fined by the risk assessment before powering on the robot arm
for the first time, see chapter 10.
11.2 Getting Started
Before using PolyScope, the robot arm and control box must be installed and the control box
switched on.
11.2.1 Installing the Robot Arm and Control Box
To install the robot arm and control box, do the following:
1. Unpack the robot arm and the control box.
2. Mount the robot on a sturdy surface strong enough to withstand at least 10 times the full
torque of the base joint and at least 5 times the weight of the robot arm. The surface shall be
vibration-free.
3. Place the control box on its foot.
4. Plug on the robot cable between the robot and the control box.
5. Plug in the mains plug of the control box.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-25 CB3
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