Universal Robots UR30

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Backdrive Inspection

Description If the robot is close to colliding with something, you can use Backdrive to move the robot

arm to a safe position before initializing.

3PE Teach Pendant

User Manual 186 UR30

Main Page

Table of Contents5
Liability and Intended Use10
Limitation of Liability10
Intended Use10
Your Robot12
Technical Specifications UR3016
Teach pendant with 3-Position Enabling Device17
3PE Teach pendant Button Functions19
Using the 3PE Buttons20
Polyscope Overview23
Icons/Tabs on Polyscope24
Light Ring26
Safety28
General28
Safety Message Types29
General Warnings and Cautions30
Integration and Responsibility32
Stop Categories32
Lifting and Handling33
Control Box and Teach pendant35
Robot Arm35
Round Sling Use35
Assembly and Mounting37
Securing the Robot Arm38
Dimensioning the Stand40
Mounting Description42
Workspace and Operating Space43
Singularity44
Fixed and Movable Installation45
Control Box Clearance46
Robot Connections: Base Flange Cable47
Robot Connections: Robot Cable48
Mains Connections49
First Boot51
Starting Your Robot51
Inserting the Serial Number52
Initializing the Robot Arm53
Turning the Control Box On/Off54
Powering down the Robot55
Freedrive56
Freedrive Panel58
Mounting61
Power down the Robot62
Installation63
Electrical Warnings and Cautions63
Control Box Connection Ports65
Ethernet66
3PE Teach pendant Installation67
Hardware Installation67
New Software Installation69
Controller I/O70
I/O Interface Control72
Using the I/O Tab73
Safety I/O75
I/O Signals79
I/O Setup82
Three Position Enabling Device85
General Purpose Analog I/O86
Analog Input: Communication Interface87
General Purpose Digital I/O88
Digital Output88
End Effector Integration89
Tool I/O90
Maximum Payload91
Remote ON/OFF Control94
Securing Tool95
Set Payload96
Tool I/O Installation Specifications101
Tool Power Supply102
Tool Digital Outputs103
Tool Digital Inputs104
Tool Analogue Inputs104
Tool Communication I/O105
First Time Use106
Quick System Start-Up106
The First Program107
Run Tab109
Move Robot into Position113
Using the Program Tab114
Program Tree Toolbar117
Using Selected Program Nodes118
Using Basic Program Nodes119
Basic Program Nodes: Move119
Basic Program Nodes: Waypoints123
Using the Move Tab125
Pose Editor127
Safety-Related Functions and Interfaces130
Configurable Safety Functions131
Safety Functions132
Safety Parameter Set134
Software Safety Configuration135
Setting a Software Safety Password138
Changing the Software Safety Configuration139
Applying a New Software Safety Configuration140
Safety Checksum140
Safety Configuration Without Teach pendant141
Software Safety Modes141
Software Safety Limits142
Robot Limits143
Joint Limits145
Safe Home Position147
Software Safety Restrictions149
Tool Direction Restriction155
Tool Position Restriction157
Cybersecurity Threat Assessment161
General Cybersecurity161
Cybersecurity Requirements161
Cybersecurity Hardening Guidelines163
Passwords164
Password Settings164
Administrator Password165
Operational Password166
Communication Networks167
Fieldbus168
Modbus169
Ethernet/Ip173
Profinet173
Profisafe173
UR Connect177
Emergency Events179
Emergency Stop179
Movement Without Drive Power180
Modes181
Recovery Mode183
Backdrive183
Transportation188
Teach pendant Storage189
Maintenance and Repair190
Testing Stopping Performance190
Robot Arm Cleaning and Inspection191
Log Tab195
Program and Installation Manager198
Accessing Robot Data200
Disposal and Environment202
Risk Assessment204
Pinch Hazard207
Stopping Time and Stopping Distance207
Commissioning213
Declarations and Certificates (Original EN)214
Declarations and Certificates216
Certifications218
Certificates220
Safety Functions Table225
Table233

Universal Robots UR30 - Page 185

Table of Contents

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