Universal Robots UR10/CB3 User Manual

1.27.2. Connecting a MAF light guard
The MAF signal [A3-C3] in the EUROMAP 67 cable enables the powerful movement of the mould.
Care must be taken to prevent the mould from closing when the robot is inside the machine.
The EUROMAP 67 interface is supplied without a MAF light guard. This means that an error in
the robot program could cause the IMM mould to close and crush the robot. However, it is
possible to connect a light guard as shown below to prevent these accidents. A Category
1
1 light
curtain can be purchased for a few hundred USD (e.g. ,,PSEN op 2H-s/1” from Pilz).
CAUTION
If you do not install a light curtain you may damage both the robot and the mould.
24V GND
GND GND
24V 24V
MAF MAF
Euromap67
1.27.3. Mounting the robot and tool
Before constructing a tool and a mounting surface, the integrator must consider how joint 4
(wrist 2) is orientated during pick and place. Joint 1, 2 and 3 has parallel axes and if joint 4
orientates joint 5 to the left or to the right then joint 5 is parallel to the other three axes, which
forms a singularity. It is generally a good idea to place the robot in a 45 degree angle or
constructing a tool where the surface of the tool flange of the robot points down when gripping
the items from the vertical mould surface.
1.27.4. Using the robot without an IMM
To operate the robot without an IMM, a by-pass plug must be used to close the emergency and
safety signals. The only alternative is to permanently uninstall the interface as described inon
page232.
WARNING
Never use the by-pass plug when the robot is installed together with an IMM.
1.27.5. EUROMAP 12 to EUROMAP 67 conversion
To interface an IMM with EUROMAP 12 interface an E12 - E67 adaptor must be used. Several
adaptors is available on the marked from different manufacturers. Unfortunately most adaptors
are constructed for specific robots or IMMs assuming specific designs choices. This means that
UR10 218 User Manual
EUROMAP 67 Interface
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English