5.3.3 General purpose digital I/O. . . . . . . . . . . . . . . . . . . I-34
5.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . I-35
5.3.5 Communication with other machines or PLCs . . . . . . . . . . . . I-35
5.3.6 General purpose analog I/O. . . . . . . . . . . . . . . . . . . I-35
5.3.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . I-37
5.4 Tool I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-38
5.4.1 Tool Digital Outputs . . . . . . . . . . . . . . . . . . . . . I-39
5.4.2 Tool Digital Inputs . . . . . . . . . . . . . . . . . . . . . . I-40
5.4.3 Tool Analog Inputs . . . . . . . . . . . . . . . . . . . . . . I-41
5.5 Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-42
5.6 Mains connection . . . . . . . . . . . . . . . . . . . . . . . . . I-42
5.7 Robot connection . . . . . . . . . . . . . . . . . . . . . . . . . I-43
6 Maintenance and Repair I-45
6.1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . I-45
7 Disposal and Environment I-47
8 Certifications I-49
8.1 Third Party Certifications . . . . . . . . . . . . . . . . . . . . . . I-49
8.2 Declarations According to EU directives . . . . . . . . . . . . . . . . . I-49
9 Warranties I-51
9.1 Product Warranty . . . . . . . . . . . . . . . . . . . . . . . . . I-51
9.2 Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-51
A Stopping Time and Stopping Distance I-53
A.1 Stop Category 0 stopping distances and times . . . . . . . . . . . . . . . I-53
B Declarations and Certificates I-55
B.1 CE/EU Declaration of Incorporation (original). . . . . . . . . . . . . . . I-55
B.2 Safety System Certificate. . . . . . . . . . . . . . . . . . . . . . . I-56
B.3 Environmental Test Certificate. . . . . . . . . . . . . . . . . . . . . I-57
B.4 EMC Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . I-58
B.5 Cleanroom Test Certificates. . . . . . . . . . . . . . . . . . . . . . I-59
C Applied Standards I-61
D Technical Specifications I-69
II PolyScope Manual II-1
10 Safety Configuration II-3
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . II-3
10.2 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . II-4
10.3 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . II-5
10.4 Tolerances . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-6
10.5 Safety Checksum . . . . . . . . . . . . . . . . . . . . . . . . . II-6
10.6 Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . II-6
UR5/CB3 iv Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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