Universal Robots UR5

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13.17 Command: Assignment

Assigns values to variables. An assignment puts the computed value of the right hand

side into the variable on the left hand side. This can be useful in complex programs.

CB3 II-66 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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