Universal Robots UR3/CB3 User Manual (English)

To Next Page

To Previous Page

14.2 Program Tab

14.2.4 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.

14.2.5 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.

DANGER:

1. Make sure to stay outside the robot workspace when the Play

button is pressed. The movement you programmed may be dif-

ferent 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 ex-

ecution.

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 14.31.

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.

CB3 II-72 Version 3.10

Need help?

Do you have a question about the Universal Robots UR3/CB3 and is the answer not in the manual?

Universal Robots UR3/CB3 Specifications

General

Payload	3 kg
Reach	500 mm
Degrees of Freedom	6
IP Rating	IP54
Repeatability	±0.1 mm
Power Supply	100-240 VAC, 50-60 Hz
Protection Class	IP54
Weight	11 kg
Base Footprint	128 mm diameter
Max Speed	1 m/s
Programming Method	Graphical programming interface
Communication Interface	Ethernet
Safety Standards	EN ISO 10218-1
Operating Voltage	24 VDC