Introduction
2
Contents
Contents.......................................................................................................................................2
1 Introduction.............................................................................................................................4
1.1 Important Safety Notice .....................................................................................................4
1.2 Scope of the Manual..........................................................................................................4
1.3 Naming convention............................................................................................................4
1.4 How to read the Manual.....................................................................................................5
2 Safety.......................................................................................................................................6
2.1 Intended Use.....................................................................................................................6
2.2 General Safety Instructions.................................................................................................7
2.3 Risk Assessment.................................................................................................................8
2.4 Environmental Safety.........................................................................................................8
2.5 PLd CAT3 Safety Function...................................................................................................9
3 Operation mode(s) .................................................................................................................11
4 Installation.............................................................................................................................12
4.1 Overview.........................................................................................................................12
4.2 Mounting........................................................................................................................ 12
4.2.1 Quick Changer options............................................................................................ 13
4.2.2 Tools......................................................................................................................15
4.3 Wiring .............................................................................................................................21
4.3.1 Tool data cable....................................................................................................... 22
4.3.2 Ethernet cable........................................................................................................ 23
4.3.3 Power supply..........................................................................................................24
4.4 Software setup ................................................................................................................ 25
4.4.1 Install URCap.......................................................................................................... 25
4.4.2 Uninstall software .................................................................................................. 27
1.1.1 URCap setup ..........................................................................................................30
5 Operation............................................................................................................................... 53
5.1 URCap commands............................................................................................................ 54
5.2 URCap toolbar............................................................................................................... 100
5.2.1 How to access the toolbar..................................................................................... 100
5.3 URScript commands....................................................................................................... 111
5.4 TCP Configuration .......................................................................................................... 113
5.5 ReturnValues................................................................................................................ 118
5.6 Feedback variables......................................................................................................... 119
6 Additional Software Options................................................................................................. 122
6.1 Compute Box................................................................................................................. 122
6.1.1 Interfaces............................................................................................................. 122
6.1.2 Web Client........................................................................................................... 122
