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Universal Robots UR5 User Manual
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14.21
Command:
Thread
14.21
Command:
Thread
A
thr
ead
is
a
parallel
pr
ocess
to
the
r
obot
pr
ogram.
A
thr
ead
can
be
used
to
control
an
external
machine
independently
of
the
robot
arm.
A
thread
can
communicate
with
the
robot
pr
ogram
with
variables
and
output
signals.
14.22
Command:
Switch
V
ersion
3.4.5
Copyright
©
2009–2017
b
y
Universal
Robots
A/S
.
All
rights
reser
ved.
II-89
CB3
170
172
Table of Contents
Default Chapter
5
Table of Contents
5
Preface
11
What Do the Boxes Contain
11
Important Safety Notice
12
How to Read this Manual
12
Where to Find more Information
12
I Hardware Installation Manual
13
1 Safety
15
Introduction
15
Validity and Responsibility
15
Limitation of Liability
16
Warning Symbols in this Manual
16
General Warnings and Cautions
17
Intended Use
19
Risk Assessment
19
Emergency Stop
21
Movement Without Drive Power
21
2 Safety-Related Functions and Interfaces
23
Introduction
23
Stopping Times of the Safety System
24
Limiting Safety-Related Functions
24
Safety Modes
25
Safety-Related Electrical Interfaces
27
Safety-Related Electrical Inputs
27
Safety-Related Electrical Outputs
28
3 Transportation
31
4 Mechanical Interface
33
Introduction
33
Workspace of the Robot
33
Mounting
34
Maximum Payload
37
5 Electrical Interface
39
Introduction
39
Electrical Warnings and Cautions
39
Controller I/O
39
Safety I/O
43
General Purpose Digital I/O
46
General Purpose Analog I/O
47
Digital Input from a Button
47
Remote ON/OFF Control
49
Tool I/O
50
Tool Digital Outputs
51
Tool Digital Inputs
52
Tool Analog Inputs
53
Ethernet
54
Mains Connection
54
Robot Connection
55
6 Maintenance and Repair
57
Safety Instructions
58
7 Disposal and Environment
59
8 Certifications
61
Third Party Certifications
61
Declarations According to EU Directives
62
9 Warranties
63
Product Warranty
63
Disclaimer
64
A Stopping Time and Stopping Distance
65
Stop Category 0 Stopping Distances and Times
66
B Declarations and Certificates
67
CE/EU Declaration of Incorporation (Original
67
Safety System Certificate
68
Environmental Test Certificate
69
EMC Test Certificate
70
B.5 Cleanroom Test Certificates
71
Cleanroom Test Certificates
72
C Applied Standards
73
D Technical Specifications
81
Polyscope Manual
83
10 Safety Configuration
85
Introduction
85
Changing the Safety Configuration
86
Safety Synchronization and Errors
87
Tolerances
88
Safety Checksum
88
Safety Modes
88
Freedrive Mode
89
Password Lock
90
General Limits
91
Joint Limits
93
Boundaries
94
Selecting a Boundary to Configure
95
D Visualization
96
Tool Boundary Configuration
99
Safety I/O
101
Output Signals
103
11 Begin Programming
105
Installing the Robot Arm and Control Box
106
Quick Start
107
Polyscope Programming Interface
108
Welcome Screen
110
Initialization Screen
111
12 On-Screen Editors
113
13 Robot Control
117
Feature and Tool Position
118
I/O Tab
119
MODBUS Client I/O
120
Installation Load/Save
122
Installation TCP Configuration
123
Teaching TCP Position
124
Teaching TCP Orientation
125
Installation Mounting
126
Installation I/O Setup
127
I/O Signal Type
128
Installation Variables
129
Installation MODBUS Client I/O Setup
130
Installation Features
133
Using a Feature
134
New Point
136
New Plane
137
Example: Manually Updating a Feature to Adjust a Program
138
Example: Dynamically Updating a Feature Pose
139
Conveyor Tracking Setup
140
Installation Default Program
141
Starting a Default Program
142
Load Screen
143
Run Tab
145
14 Programming
147
Program Tab
148
Program Execution Indication
149
Undo/Redo Buttons
150
Variables
151
Command: Move
152
Command: Fixed Waypoint
155
Command: Relative Waypoint
160
Command: Variable Waypoint
161
Command: Wait
162
Command: Popup
163
Command: Halt
164
Command: Folder
165
Command: Subprogram
166
Command: Assignment
167
Command: if
168
Command: Script
169
Command: Event
170
Command: Thread
171
Command: Pattern
172
Command: Force
173
Command: Pallet
177
Command: Seek
178
Command: Conveyor Tracking
181
Command: Suppress
182
Structure Tab
183
Variables Tab
184
Command: Variables Initialization
185
15 Setup Screen
187
Language and Units
188
Update Robot
189
Set Password
190
Calibrate Screen
191
Set Time
192
Urcaps Setup
193
III EUROMAP 67 Interface
195
Introduction
197
16 Introduction
198
EUROMAP 67 Standard
198
17 Robot and IMM Integration
201
Mounting the Robot and Tool
202
18 Gui
205
EUROMAP 67 Program Template
205
I/O Overview and Troubleshooting
206
Control
207
Manufacturer Dependent
208
Startup Check
209
Free to Mould
210
Wait for Item
211
Ejector Back
212
Core Pullers out
213
I/O Action and Wait
214
19 Installing and Uninstalling the Interface
215
Uninstalling
216
20 Electrical Characteristics
219
Digital Inputs
220
Glossary
221
Index
223
Other manuals for Universal Robots UR5
Service Manual
238 pages
Original Instructions
193 pages
Installation Guide
12 pages
Manual
21 pages
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Universal Robots UR5 Specifications
General
Brand
Universal Robots
Model
UR5
Category
Robotics
Language
English
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