Universal Robots UR5

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13.16 Command: SubProgram

A Sub Program can hold program parts that are needed several places. A Sub Program

can be a seperate ﬁle on the disk, and can also be hidden to protect against accidental

changes to the SubProgram.

CB3 II-64 Version 3.1 (rev. 17782)

Main Page

Default Chapter5
- Table of Contents5
Preface11
- What Do the Boxes Contain11
- Important Safety Notice12
- 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 Stop21
- Movement Without Drive Power22
2 Transportation23
3 Mechanical Interface25
- Workspace of the Robot25
- Mounting26
4 Electrical Interface31
- Introduction31
- Electrical Warnings and Cautions32
- Controller I/O33
- Ethernet47
- Mains Connection47
- Robot Connection48
5 Safety-Related Functions and Interfaces51
- Limiting Safety-Related Functions52
- Safety Modes53
- Safety-Related Electrical Interfaces54
  - Safety-Related Electrical Inputs54
  - Safety-Related Electrical Outputs55
6 Maintenance and Repair57
- Safety Instructions58
7 Disposal and Environment59
8 Certiﬁcations61
- Third Party Certiﬁcations61
- Declarations According to EU Directives62
9 Warranties63
- Product Warranty63
- Disclaimer64
A Stopping Time and Stopping Distance65
- A.1 CATEGORY 0 Stopping Distances and Times65
- CATEGORY 0 Stopping Distances and Times66
B Declarations and Certiﬁcates67
- CE Declaration of Incorporation (Original)67
- Safety System Certiﬁcate68
- Environmental Test Certiﬁcate69
- EMC Test Certiﬁcate70
C Applied Standards71
D Technical Speciﬁcations77
- Polyscope Manual79
10 Introduction81
- Getting Started81
- Installing the Robot Arm and Control Box81
- Turning the Control Box on and off82
11 On-Screen Editors89
- On-Screen Keypad89
- On-Screen Keyboard90
- On-Screen Expression Editor91
- Pose Editor Screen91
12 Robot Control92
- I/O Tab97
- MODBUS Client I/O98
- Automove Tab99
- Installation Load/Save100
- Installation TCP Conﬁguration101
- Installation Mounting105
- Installation I/O Setup106
- Installation Safety107
- Installation Variables107
- Installation MODBUS Client I/O Setup109
- Installation Features111
- Conveyor Tracking Setup115
- Installation Default Program117
- Loading a Default Program117
- Starting a Default Program117
- Auto Initialization117
- Log Tab118
- Load Screen118
- Run Tab121
13 Programming123
- New Program123
- Programming II123
- Program Tab124
  - Program Tree124
  - Program Execution Indication125
  - Undo/Redo Buttons125
  - Program Dashboard126
- Variables127
- Command: Empty127
- Command: Move128
- Command: Fixed Waypoint131
- Command: Relative Waypoint133
- Command: Variable Waypoint134
- Command: Wait135
- Command: Set136
- Command: Popup137
- Command: Halt138
- Command: Comment139
- Command: Folder140
- Command: Loop141
- Command: Subprogram142
- Command: Assignment144
- Command: if145
- Command: Script146
- Command: Event147
- Command: Thread148
- Command: Pattern149
- Command: Force150
- Command: Pallet153
- Command: Seek154
- Command: Start/Stop Conveyor Tracking158
- Command: Suppress158
- Graphics Tab158
- Structure Tab160
- Variables Tab161
- Command: Variables Initialization162
14 Setup Screen163
- Language and Units164
- Update Robot165
- Set Password166
- Calibrate Screen167
- Setup Network168
- Set Time169
15 Safety Conﬁguration171
- Changing the Safety Conﬁguration172
- Safety Synchronization and Errors173
- Tolerances173
- Safety Checksum174
- Safety Modes174
- Freedrive Mode175
- Password Lock175
- Apply176
- General Limits176
- Joint Limits179
- Boundaries180
- Safety I/O189
Glossary191
Index193

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