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
information, which must be read and understood by the in-
tegrator of UR robots before the robot is powered on for the
first time.
2. The integrator must set the safety configuration parameters
defined 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.
Figure 11.1: Joints of the robot. A: Base, B: Shoulder, C: Elbow and D, E, F: Wrist 1, 2, 3
Version 3.11
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II-23 e-Series
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