Universal Robots UR5 - Table of Contents

All rights reserved 2 Installation Guide (en) 1.3.3
Table of Contents
1. Purpose ...................................................................................................................... 3
1.1 Disclaimer .......................................................................................................... 3
1.2 Company details ................................................................................................ 3
1.3 How to use this guide ......................................................................................... 3
2. Mechanical Set Up ...................................................................................................... 4
3. Payload / Center of Gravity Offset ............................................................................... 5
4. Motion Control ............................................................................................................. 6
4.1 Acceleration ....................................................................................................... 7
4.2 Speed................................................................................................................. 7
5. I/O Ports ...................................................................................................................... 8
5.1 Inputs and Outputs ............................................................................................. 8
6. Programming .............................................................................................................. 9
6.1 Processing ......................................................................................................... 9
6.2 Protective Stop ................................................................................................. 10
6.3 UR+/URCaps ................................................................................................... 10
6.4 Interfaces ......................................................................................................... 10
6.5 Safety ............................................................................................................... 11