Universal Robots UR5

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14.17 Command: Assignment

Command: Call SubProgram

A call to a sub program will run the program lines in the sub program, and then

return to the following line.

14.17 Command: Assignment

Version 3.4.5

II-85 CB3

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 Use19
- Risk Assessment19
- Emergency Stop21
- Movement Without Drive Power21
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 Cautions39
- Controller I/O39
- Safety I/O43
- General Purpose Digital I/O46
- Tool I/O50
- Ethernet54
- Mains Connection54
- Robot Connection55
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
- Stop Category 0 Stopping Distances and Times66
B Declarations and Certiﬁcates67
- CE/EU Declaration of Incorporation (Original67
- Safety System Certiﬁcate68
- Environmental Test Certiﬁcate69
- EMC Test Certiﬁcate70
- B.5 Cleanroom Test Certiﬁcates71
- Cleanroom Test Certiﬁcates72
C Applied Standards73
D Technical Speciﬁcations81
- Polyscope Manual83
10 Safety Conﬁguration85
- Introduction85
- Changing the Safety Conﬁguration86
- Safety Synchronization and Errors87
- Tolerances88
- Safety Checksum88
- Safety Modes88
- Freedrive Mode89
- Password Lock90
- General Limits91
- Joint Limits93
- Boundaries94
- Safety I/O101
  - Output Signals103
11 Begin Programming105
- Installing the Robot Arm and Control Box106
- Quick Start107
- Polyscope Programming Interface108
- Welcome Screen110
- Initialization Screen111
12 On-Screen Editors113
13 Robot Control117
- Feature and Tool Position118
- I/O Tab119
- Conveyor Tracking Setup140
  - Installation Default Program141
  - Starting a Default Program142
- Load Screen143
- Run Tab145
14 Programming147
- Program Tab148
  - Program Execution Indication149
  - Undo/Redo Buttons150
- Variables151
- Command: Move152
- Command: Fixed Waypoint155
- Command: Relative Waypoint160
- Command: Variable Waypoint161
- Command: Wait162
- Command: Popup163
- Command: Halt164
- Command: Folder165
- Command: Subprogram166
- Command: Assignment167
- Command: if168
- Command: Script169
- Command: Event170
- Command: Thread171
- Command: Pattern172
- Command: Force173
- Command: Pallet177
- Command: Seek178
- Command: Conveyor Tracking181
- Command: Suppress182
- Structure Tab183
- Variables Tab184
- Command: Variables Initialization185
15 Setup Screen187
- Language and Units188
- Update Robot189
- Set Password190
- Calibrate Screen191
- Set Time192
- Urcaps Setup193
- III EUROMAP 67 Interface195
  - Introduction197
16 Introduction198
- EUROMAP 67 Standard198
17 Robot and IMM Integration201
- Mounting the Robot and Tool202
18 Gui205
- EUROMAP 67 Program Template205
- I/O Overview and Troubleshooting206
- I/O Action and Wait214
19 Installing and Uninstalling the Interface215
- Uninstalling216
20 Electrical Characteristics219
- Digital Inputs220
Glossary221
Index223

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