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Contents

1.Preface 1

1.1. What Do the Boxes Contain 1

1.2. Important Safety Notice 1

1.3. How to Read This Manual 2

1.4. Where to Find More Information 2

1.4.1. UR+ 2

Part I Hardware Installation Manual 3

1.5. Safety 5

1.5.1. Introduction 5

1.5.2. Validity and Responsibility 5

1.5.3. Limitation of Liability 6

1.5.4. Warning Symbols in this Manual 6

1.5.5. General Warnings and Cautions 7

1.5.6. Intended Use 9

1.5.7. Risk Assessment 10

1.5.8. Emergency Stop 11

1.5.9. Movement With and Without Drive Power 12

1.6. Safety-related Functions and Interfaces 13

1.6.1. Introduction 13

1.6.2. Stopping times of the Safety System 14

1.6.3. Limiting Safety-related Functions 14

1.6.4. Safety Modes 16

1.6.5. Safety-related Electrical Interfaces 17

1.7. Transportation 21

1.8. Mechanical Interface 23

1.8.1. Introduction 23

1.8.2. Workspace of the Robot 23

1.8.3. Mounting 23

1.8.4. Maximum Payload 26

1.9. Electrical Interface 29

1.9.1. Introduction 29

1.9.2. Electrical warnings and cautions 29

1.9.3. Controller I/O 30

1.9.4. Tool I/O 41

User Manual UR10

Universal Robots UR10/CB3 User Manual

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