Universal Robots UR5/CB3 - Page 113

Universal Robots UR5/CB3

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10.13 Safety I/O

Not Reduced Mode This is the inverse of the Reduced Mode deﬁned above.

Version 3.11

Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

II-21 e-Series

Table of Contents

Default Chapter5
- Table of Contents5
Preface11
- What Do the Boxes Contain11
- Important Safety Notice11
- How to Read this Manual12
- Where to Find more Information12
I Hardware Installation Manual13
1 Safety15
- Introduction15
- Validity and Responsibility15
- Limitation of Liability16
- Warning Symbols in this Manual16
- General Warnings and Cautions17
- Intended Use20
- Risk Assessment20
- Emergency Stop22
- Movement with and Without Drive Power22
2 Safety-Related Functions and Interfaces23
- Introduction23
- Stopping Times of the Safety System24
- Limiting Safety-Related Functions24
- Safety Modes25
- Safety-Related Electrical Interfaces27
  - Safety-Related Electrical Inputs27
  - Safety-Related Electrical Outputs28
3 Transportation31
4 Mechanical Interface33
- Introduction33
- Workspace of the Robot33
- Mounting34
- Maximum Payload37
5 Electrical Interface39
- Introduction39
- Electrical Warnings and Cautions40
- Controller I/O41
- Common Specifications for All Digital I/O41
- Safety I/O41
6 Maintenance and Repair57
- Safety Instructions58
7 Disposal and Environment59
8 Certifications61
- Third Party Certification61
- Supplier Third Party Certification62
- Manufacturer Test Certification62
- Declarations According to EU Directives62
9 Warranties63
- Product Warranty63
- Disclaimer64
A Stopping Time and Stopping Distance65
- Stop Category 0 Stopping Distances and Times66
B Declarations and Certificates67
- EU Declaration of Incorporation in Accordance with ISO/IEC 17050-1:201068
- Safety System Certificate69
- TUV Rheinland70
- China Rohs71
- KCC Safety72
- Environmental Test Certificate73
- EMC Test Certificate74
- Cleanroom Test Certificates76
C Applied Standards77
D Technical Specifications85
E Safety Functions Tables87
- Table87
- Polyscope Manual93
10 Safety Configuration95
- Introduction95
- Changing the Safety Configuration96
- Safety Synchronization and Errors97
- Tolerances98
- Safety Checksum98
- Safety Modes98
- Freedrive Mode99
  - Backdrive99
- Password Lock100
- Apply100
- General Limits101
- Joint Limits103
- Boundaries104
- Safety I/O110
  - Input Signals110
  - Output Signals112
11 Begin Programming115
- Introduction115
- Getting Started115
- Polyscope Programming Interface118
- Welcome Screen120
- Initialization Screen121
12 On-Screen Editors123
- On-Screen Expression Editor123
- Pose Editor Screen126
13 Robot Control127
- Move Tab127
- Automove Tab130
- Installation Load/Save132
- Installation TCP Configuration133
- Installation Mounting136
- Installation I/O Setup137
- Installation Safety138
- Installation Variables139
- Installation MODBUS Client I/O Setup140
- Installation Features143
- Conveyor Tracking Setup149
- Smooth Transition between Safety Modes149
  - Adjusting Acceleration/Deceleration Settings150
- Installation Default Program150
- Log Tab151
  - Saving Error Reports152
- Load Screen152
- Run Tab155
14 Programming157
- New Program157
- Program Tab158
  - Program Tree158
  - Program Execution Indication159
  - Search Button159
  - Undo/Redo Buttons159
  - Program Dashboard160
  - Variables160
  - Command: Move161
  - Command: Fixed Waypoint164
  - Command: Relative Waypoint169
  - Command: Variable Waypoint170
- Command: Direction170
- Command: until171
- Command: Wait173
- Command: Set173
- Command: Popup174
- Command: Halt175
- Command: Comment175
- Command: Folder176
- Command: Loop176
- Command: if177
- Command: Subprogram178
- Command: Assignment179
- Command: Script180
- Command: Event181
- Command: Thread182
- Command: Switch182
  - Timer183
- Command: Pattern184
- Command: Force185
- Command: Pallet188
- Command: Seek189
- Command: Conveyor Tracking192
- Command: Suppress193
- Graphics Tab193
- Structure Tab194
- Variables Tab195
- Command: Variables Initialization196
15 Setup Screen197
- Language and Units198
- Update Robot199
- Set Password200
- Calibrate Screen201
- Setup Network201
- Set Time202
- Urcaps Setup203
- EUROMAP 67 Interface III-1205
18 Gui213
- EUROMAP 67 Program Template213
- I/O Overview and Troubleshooting214
- Program Structure Functionality216
- I/O Action and Wait221
19 Installing and Uninstalling the Interface III-19223
- Installing223
- Uninstalling224
20 Electrical Characteristics III-21225
- MAF Light Guard Interface225
- Emergency Stop, Safety Devices and MAF Signals225
- Digital Inputs226
- Digital Outputs228

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