12.2 I/O Tab
WARNING:
1. Make sure to use the correct installation settings (e.g. Robot
mounting angle, weight in TCP, TCP offset). Save and load the
installation files along with the program.
2. Make sure that the TCP settings and the robot mounting set-
tings are set correctly before operating the Freedrive button.
If these settings are not correct, the robot arm will move when
the Freedrive button is activated.
3. The freedrive function (impedance/backdrive) shall only be
used in installations where the risk assessment allows it. Tools
and obstacles shall not have sharp edges or pinch points. Make
sure that all personnel remain outside the reach of the robot arm.
12.2 I/O Tab
On this screen you can always monitor and set the live I/O signals from/to the robot
control box. The screen displays the current state of the I/O, inluding during program
execution. If anything is changed during program execution, the program will stop.
At program stop, all output signals will retain their states. The screen is updated at
only 10Hz, so a very fast signal might not display properly.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-19 CB3
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