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Universal Robots UR5 Original Instructions
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13.21
Command:
Thread
13.21
Command:
Thread
A
thread
is
a
parallel
process
to
the
robot
program.
A
thr
ead
can
be
used
to
contr
ol
an
external
machine
independently
of
the
robot
arm.
A
thread
can
communicate
with
the
robot
pr
ogram
with
variables
and
output
signals.
CB3
II-70
V
ersion
3.1
(re
v
.
17782)
Copyright
©
2009-2015
b
y
Universal
Robots
A/S.
All
rights
reserved.
147
149
Table of Contents
Default Chapter
5
Table of Contents
5
Preface
11
What Do the Boxes Contain
11
Important Safety Notice
12
How to Read this Manual
12
Where to Find more Information
12
I Hardware Installation Manual
13
1 Safety
15
Introduction
15
Validity and Responsibility
15
Limitation of Liability
16
Warning Symbols in this Manual
16
General Warnings and Cautions
17
Intended Use
20
Risk Assessment
20
Emergency Stop
21
Movement Without Drive Power
22
2 Transportation
23
3 Mechanical Interface
25
Workspace of the Robot
25
Mounting
26
4 Electrical Interface
31
Introduction
31
Electrical Warnings and Cautions
32
Controller I/O
33
Common Specifications for All Digital I/O
33
Safety I/O
33
General Purpose Digital I/O
33
General Purpose Analog I/O
33
Remote ON/OFF Control
42
Tool I/O
43
Tool Digital Outputs
44
Tool Digital Inputs
45
Tool Analog Inputs
46
Ethernet
47
Mains Connection
47
Robot Connection
48
5 Safety-Related Functions and Interfaces
51
Limiting Safety-Related Functions
52
Safety Modes
53
Safety-Related Electrical Interfaces
54
Safety-Related Electrical Inputs
54
Safety-Related Electrical Outputs
55
6 Maintenance and Repair
57
Safety Instructions
58
7 Disposal and Environment
59
8 Certifications
61
Third Party Certifications
61
Declarations According to EU Directives
62
9 Warranties
63
Product Warranty
63
Disclaimer
64
A Stopping Time and Stopping Distance
65
A.1 CATEGORY 0 Stopping Distances and Times
65
CATEGORY 0 Stopping Distances and Times
66
B Declarations and Certificates
67
CE Declaration of Incorporation (Original)
67
Safety System Certificate
68
Environmental Test Certificate
69
EMC Test Certificate
70
C Applied Standards
71
D Technical Specifications
77
Polyscope Manual
79
10 Introduction
81
Getting Started
81
Installing the Robot Arm and Control Box
81
Turning the Control Box on and off
82
Turning the Robot Arm on and off
82
Quick Start
82
The First Program
83
Polyscope Programming Interface
84
Welcome Screen
86
Initialization Screen
87
11 On-Screen Editors
89
On-Screen Keypad
89
On-Screen Keyboard
90
On-Screen Expression Editor
91
Pose Editor Screen
91
Robot
92
Feature and Tool Position
93
Move Tool
96
Move Joints
96
Freedrive
96
12 Robot Control
92
I/O Tab
97
MODBUS Client I/O
98
Automove Tab
99
Installation Load/Save
100
Installation TCP Configuration
101
Adding, Modifying and Removing Tcps
102
The Default and the Active TCP
102
Teaching TCP Position
102
Teaching TCP Orientation
103
Payload
104
Center of Gravity
104
Installation Mounting
105
Installation I/O Setup
106
Installation Safety
107
Installation Variables
107
Installation MODBUS Client I/O Setup
109
Installation Features
111
Conveyor Tracking Setup
115
Installation Default Program
117
Loading a Default Program
117
Starting a Default Program
117
Auto Initialization
117
Log Tab
118
Load Screen
118
Run Tab
121
13 Programming
123
New Program
123
Programming II
123
Program Tab
124
Program Tree
124
Program Execution Indication
125
Undo/Redo Buttons
125
Program Dashboard
126
Variables
127
Command: Empty
127
Command: Move
128
Command: Fixed Waypoint
131
Command: Relative Waypoint
133
Command: Variable Waypoint
134
Command: Wait
135
Command: Set
136
Command: Popup
137
Command: Halt
138
Command: Comment
139
Command: Folder
140
Command: Loop
141
Command: Subprogram
142
Command: Assignment
144
Command: if
145
Command: Script
146
Command: Event
147
Command: Thread
148
Command: Pattern
149
Command: Force
150
Command: Pallet
153
Command: Seek
154
Command: Start/Stop Conveyor Tracking
158
Command: Suppress
158
Graphics Tab
158
Structure Tab
160
Variables Tab
161
Command: Variables Initialization
162
14 Setup Screen
163
Language and Units
164
Update Robot
165
Set Password
166
Calibrate Screen
167
Setup Network
168
Set Time
169
15 Safety Configuration
171
Changing the Safety Configuration
172
Safety Synchronization and Errors
173
Tolerances
173
Safety Checksum
174
Safety Modes
174
Freedrive Mode
175
Password Lock
175
Apply
176
General Limits
176
Joint Limits
179
Boundaries
180
Selecting a Boundary to Configure
181
Visualization
182
Safety Plane Configuration
182
Tool Boundary Configuration
186
Safety I/O
189
Glossary
191
Index
193
Other manuals for Universal Robots UR5
Service Manual
238 pages
User Manual
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Installation Guide
12 pages
Manual
21 pages
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Universal Robots UR5 Specifications
General
Brand
Universal Robots
Model
UR5
Category
Robotics
Language
English
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