Contents
Preface ix
What Do the Boxes Contain . . . . . . . . . . . . . . . . . . . . . . . . ix
Important Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . x
How to Read This Manual . . . . . . . . . . . . . . . . . . . . . . . . x
Where to Find More Information . . . . . . . . . . . . . . . . . . . . . . x
I Hardware Installation Manual I-1
1 Safety I-3
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-3
1.2 Validity and Responsibility . . . . . . . . . . . . . . . . . . . . . . I-3
1.3 Limitation of Liability. . . . . . . . . . . . . . . . . . . . . . . . I-4
1.4 Warning Symbols in this Manual. . . . . . . . . . . . . . . . . . . . I-4
1.5 General Warnings and Cautions . . . . . . . . . . . . . . . . . . . . I-5
1.6 Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . I-7
1.7 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . I-7
1.8 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . I-9
1.9 Movement Without Drive Power . . . . . . . . . . . . . . . . . . . . I-9
2 Safety-related Functions and Interfaces I-11
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-11
2.2 Stopping times of the Safety System . . . . . . . . . . . . . . . . . . I-12
2.3 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . I-12
2.4 Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . I-13
2.5 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . I-15
2.5.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . I-15
2.5.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . I-16
3 Transportation I-19
4 Mechanical Interface I-21
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-21
4.2 Workspace of the Robot . . . . . . . . . . . . . . . . . . . . . . . I-21
4.3 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-21
4.4 Maximum Payload . . . . . . . . . . . . . . . . . . . . . . . . . I-25
5 Electrical Interface I-27
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-27
5.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . I-27
5.3 Controller I/O . . . . . . . . . . . . . . . . . . . . . . . . . . I-29
5.3.1 Common specifications for all digital I/O . . . . . . . . . . . . . . I-29
5.3.2 Safety I/O . . . . . . . . . . . . . . . . . . . . . . . . . I-31
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
iii UR5/CB3
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