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Universal Robots UR e Series User Manual
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User
Manual
UR10e
2
Table of Contents
1. Preface
12
Part I Hardware Installation Manual
15
2. Safety
16
2.1. Validity and Responsibility
17
2.2. Limitation of Liability
17
2.3. Safety Message Types
18
2.4. General Warnings and Cautions
19
2.5. Intended Use
21
2.6. Risk Assessment
23
2.7. Pre-Use Assessment
25
2.8. Emergency Stop
26
2.9. Movement Without Drive Power
27
2.10. Safety-related Functions and Interfaces
28
2.10.1. Stop Categories
29
2.10.2. Configurable Safety Functions
30
2.10.3. Safety Functions
34
2.10.4. Safety Parameter Set
35
2.10.5. Modes
37
3. Mechanical Interface
38
3.1. Workspace and Operating Space
38
3.2. Mounting Description
39
3.3. Securing the Robot Arm
40
3.4. Securing Tool
41
3.5. Control Box Clearance
42
3.6. Maximum Payload
44
4. Electrical Interface
46
4.1. Electrical Warnings and Cautions
46
4.2. Controller I/O
48
4.3. Safety I/O
50
4.4. Three Position Enabling Device
54
4.5. General Purpose Digital I/O
56
4.6. General Purpose Analog I/O
57
4.7. Remote ON/OFF Control
58
4.8. Control Box Bracket
60
4.9. Ethernet
60
4.10. Mains Connections
61
4.11. Robot Connections: Robot Cable
63
4.12. Robot Connections: Base Flange Cable
64
4.13. Tool I/O
65
4.14. Tool Power Supply
66
4.15. Tool Digital Outputs
67
4.16. Tool Digital Inputs
68
4.17. Tool Analogue Inputs
68
4.18. Tool Communication I/O
69
5. Transportation
70
5.1. Transport Without Packaging
71
6. Maintenance and Repair
72
6.1. Cleaning
73
6.2. Inspection
73
6.2.1. Robot Arm Inspection Plan
73
6.2.2. Robot Arm Visual Inspection
74
6.2.3. Freedrive Inspection
75
6.2.4. Control Box Inspection Plan
76
7. Disposal and Environment
77
8. Certifications
78
9. Stopping Time and Stopping Distance
80
9.1. Robot Scenario 1: 10 kg.
80
9.2. Robot Scenario 2: 12.5 kg.
83
10. Declarations and Certificates (original EN)
87
11. Warranty Information
89
12. Certificates
90
13. Applied Standards
95
14. Technical Specifications
99
15. Safety Functions Table 1
100
15.1. Table 1a
108
15.2. Table 2
109
Part II PolyScope Manual
113
16. Introduction
115
16.1. Robot Arm Basics
115
16.2. Robot Arm Installation
116
16.3. PolyScope Overview
120
16.3.1. Icons/Tabs On PolyScope
121
16.4. Freedrive
123
16.4.1. Freedrive Panel
125
16.5. Backdrive
126
16.5.1. Backdrive Inspection
128
16.6. Quick System Start-up
130
16.7. The First Program
131
16.8. Robot Cyber Security
133
16.9. Operational Mode Selection
134
17. Software Safety Configuration
137
17.1. Setting a Software Safety Password
139
17.2. Changing the Software Safety Configuration
140
17.3. Applying a New Software Safety Configuration
141
17.3.1. Safety Checksum
141
17.4. Safety Configuration without Teach Pendant
143
17.5. Software Safety Modes
143
17.6. Software Safety Limits
144
17.6.1. Robot Limits
144
17.6.2. Joint Limits
146
17.7. Safety I/O
149
17.8. Software Safety Restrictions
153
17.8.1. Tool Direction Restriction
161
17.8.2. Tool Position Restriction
163
17.9. Safe Home Position
167
18. Run Tab
169
18.1. Move Robot into Position
172
18.2. Program
173
18.3. Variables
173
19. Program Tab
175
19.1. Robot Program Configuration
177
19.2. Program Tree Toolbar
179
19.2.1. Variable Setup
179
19.2.2. Command Tab
182
19.2.3. Graphics Tab
185
19.2.4. Variables Tab
187
19.3. Expression Editor
188
19.4. Starting a Program from a Selected Program Node
189
19.5. Using Breakpoints in a Program
190
19.6. Single Step in a Program
193
19.7. Basic program nodes
195
19.7.1. Move
195
19.7.2. Waypoints
199
19.7.3. Direction
222
19.7.4. Wait
224
19.7.5. Set
229
19.7.6. Popup
231
19.7.7. Halt
234
19.7.8. Comment
235
19.7.9. Folder
236
19.7.10. Set Payload
237
19.8. Advanced program nodes
238
19.8.1. Loop
238
19.8.2. SubProgram
239
19.8.3. Assignment
241
19.8.4. If
241
19.8.5. Script
243
19.8.6. Event
244
19.8.7. Thread
244
19.8.8. Switch
245
19.8.9. Timer
247
19.8.10. Home
247
19.9. Templates
250
19.9.1. Seek
250
19.9.2. Force
254
19.9.3. Palletizing
258
19.9.4. Conveyor Tracking
264
19.9.5. Screwdriving
266
19.10. URCaps
269
20. Installation Tab
278
20.1. TCP Configuration
278
20.1.1. Teaching TCP Position
280
20.2. Payload
281
20.3. Mounting
284
20.4. I/O Setup
285
20.5. Installation Variables
288
20.6. Startup
291
20.7. Tool I/O
292
20.7.1. Analog Input - Communication Interface
292
20.7.2. Digital Output Mode
293
20.8. Smooth Transition
293
20.9. Home
294
20.10. Conveyor Tracking Setup
295
20.11. Screwdriving Setup
296
20.12. Safety
299
20.13. Features
299
20.13.1. Feature Edit
306
20.14. Fieldbus
307
20.14.1. MODBUS Client I/O Setup
307
20.14.2. EtherNet/IP
310
20.14.3. PROFINET
311
20.14.4. PROFIsafe
311
21. Move Tab
317
21.1. Pose Editor Screen
320
22. I/O Tab
322
22.1. MODBUS
324
23. Log Tab
325
24. Program and Installation Manager
328
24.1. File Manager
332
25. Hamburger menu
333
25.1. About
333
25.1.1. Help
334
25.2. Settings
336
25.2.1. Preferences
336
25.2.2. Password
337
25.2.3. System
339
25.2.4. Security
346
25.3. Shutdown Robot
351
26. Glossary
352
26.1. Index
353
Other manuals for Universal Robots UR e Series
Service Manual
205 pages
Hardware Manual
103 pages
Installation Guide
40 pages
Manual
108 pages
4
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Universal Robots UR e Series Specifications
General
Brand
Universal Robots
Model
UR e Series
Category
Robotics
Language
English
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