Universal Robots E Series User manual

UniversalRobots e-Series
User Manual
UR5e
Original instructions (en)

UR5e User Manual
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

The information contained herein is the property of UniversalRobotsA/S and shall not be
reproduced in whole or in part without prior written approval of UniversalRobotsA/S. The
information herein is subject to change without notice and should not be construed as a
commitment by UniversalRobotsA/S. This document is periodically reviewed and revised.
UniversalRobotsA/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2021 by UniversalRobotsA/S.
The UniversalRobots logo is a registered trademark of UniversalRobotsA/S.
User Manual UR5e
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

UR5e User Manual
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

Contents
1.Preface 1
1.1. What Do the Boxes Contain 2
1.2. Important Safety Notice 3
1.3. How to Read This Manual 3
1.4. Where to Find More Information 3
1.4.1. UR+ 3
1.4.2. UR Forums 3
Part I Hardware Installation Manual 5
2.Safety 7
2.1. Introduction 7
2.2. Validity and Responsibility 7
2.3. Limitation of Liability 8
2.4. Warning Symbols in this Manual 8
2.5. General Warnings and Cautions 9
2.6. Intended Use 11
2.7. Risk Assessment 12
2.8. Pre-Use Assessment 14
2.9. Emergency Stop 15
2.10. Movement Without Drive Power 15
3.Safety-related Functions and Interfaces 17
3.1. Introduction 17
3.2. Stop Categories 17
3.3. Configurable Safety Functions 18
3.4. Safety Function 22
3.5. Modes 22
4.Transportation 25
5.Mechanical Interface 27
5.1. Introduction 27
5.2. Workspace of the Robot 27
5.3. Mounting 27
5.4. Maximum Payload 30
5.4.1. Payload Inertia 31
User Manual UR5e
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6.Electrical Interface 32
6.1. Introduction 32
6.1.1. Control Box Bracket 32
6.2. Ethernet 32
6.3. Electrical Warnings and Cautions 33
6.4. Controller I/O 35
6.4.1. Common specifications for all digital I/O 36
6.4.2. Safety I/O 37
6.4.3. General purpose digital I/O 42
6.4.4. Digital Inputs from a button 42
6.4.5. Communication with other machines or PLCs 43
6.4.6. General purpose analog I/O 43
6.4.7. Remote ON/OFF control 44
6.5. Mains Connection 45
6.6. Robot Connection: Robot Cable 47
6.6.1. Robot Cable connector 47
6.7. Robot Connection: Base Flange Cable 48
6.7.1. Base Flange Cable connector 48
6.8. Tool I/O 49
6.8.1. Tool Power Supply 50
6.8.2. Power Supply 50
6.8.3. Dual Pin Power Supply 50
6.8.4. Tool Digital Outputs 51
6.8.5. Tool Digital Inputs 52
6.8.6. Tool Analog Input 53
6.8.7. Tool Communication I/O 54
7.Maintenance and Repair 55
7.1. Safety Instructions 55
7.2. Cleaning 56
7.3. Inspection 56
7.3.1. Robot Arm Inspection Plan 56
7.3.2. Robot Arm Visual Inspection 57
7.3.3. Control Box Inspection Plan 58
7.3.4. Control Box Visual Inspection 58
7.3.5. Freedrive Inspection 59
8.Disposal and Environment 60
UR5e User Manual
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9.Certifications 61
10.Warranties 63
10.1. Product Warranty 63
10.2. Disclaimer 64
11.Stopping Time and Stopping Distance 65
12.Declarations and Certificates 68
13.Certificates 70
14.Applied Standards 78
15.Technical Specifications 83
16.Safety Functions Tables 85
16.1. Table 1 85
16.2. Table 2 93
Part II PolyScope Manual 97
17.Introduction 99
17.1. Robot Arm Basics 99
17.2. PolyScope Basics 99
17.2.1. Touch Screen 100
17.2.2. Header Icons/Tabs 100
17.2.3. Footer Buttons 102
17.3. Installation 102
17.3.1. Installing the Robot Arm and Control Box 102
17.3.2. Turning the Control Box On/Off 103
17.4. Initialization 103
17.4.1. Starting up the Robot Arm 104
17.5. Quick System Start-up 105
17.6. The First Program 105
17.7. Robot Registration and URCap License files 106
17.7.1. Registering the Robot from Your Current Screen 107
17.7.2. Downloading the URCAP License File 107
17.7.3. Unregistering Robot 108
17.8. Robot Cyber Security 108
17.8.1. Cyber Security Pre-requisites 108
17.8.2. Hardening Cyber Security 109
18.Freedrive 111
18.1. Enabling Freedrive: Standard Teach Pendant 112
User Manual UR5e
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18.1.1. Using the Freedrive Button 113
18.1.2. Using the Freedrive Button on the Move Tab Screen 113
18.2. Enabling Freedrive: 3PE Teach Pendant 113
19.Backdrive 114
19.1. Enabling Backdrive: Standard Teach Pendant 114
19.2. Enabling Backdrive: 3PE Teach Pendant 114
20.Operational Mode Selection 115
20.1. Operational Modes 115
20.2. Three-Position Enabling Device 117
20.2.1. Manual High Speed 117
21.Safety Configuration 119
21.1. Safety Settings Basics 119
21.1.1. Accessing Safety Configuration 119
21.2. Setting a Safety Password 120
21.3. Changing the Safety Configuration 120
21.4. Applying New Safety Configuration 121
21.5. Safety Checksum 121
21.6. Safety Menu Settings 121
21.7. Robot Limits 121
21.8. Safety Modes 123
21.9. Tolerances 124
21.10. Joint Limits 124
21.11. Planes 125
21.11.1. Modes 125
21.11.2. Configuring Safety Planes 126
21.11.3. Elbow 127
21.11.4. Color Codes 127
21.12. Freedrive 128
21.12.1. Using the Freedrive Button 128
21.13. Backdrive 128
21.13.1. Enabling Backdrive 128
21.14. Tool Position 129
21.15. Tool Direction 130
21.15.1. Limit Properties 131
21.15.2. Tool Properties 132
UR5e User Manual
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21.16. I/O 132
21.16.1. Input Signals 132
21.16.2. Output Signals 133
21.16.3. OSSD Safety Signals 134
21.17. Hardware 135
21.17.1. Selecting Available Hardware 135
21.18. Safe Home Position 135
21.18.1. Syncing from Home 136
21.19. Safe Home Output 136
21.19.1. Defining Safe Home Output 136
21.20. Edit Safe Home 136
21.20.1. Editing Safe Home 137
22.Run Tab 139
22.1. Program 139
22.2. Variables 139
22.3. Robot Age 140
22.4. Move Robot into Position 140
22.4.1. Accessing the Move Robot into Position Screen 140
22.4.2. Move robot to: 141
22.4.3. Manual 141
23.Program Tab 143
23.1. Program Tree 143
23.1.1. Program Execution Indication 144
23.1.2. Search Button 144
23.2. Program Tree Toolbar 144
23.2.1. Undo/Redo Buttons 144
23.2.2. Move Up & Down 144
23.2.3. Cut 144
23.2.4. Copy 145
23.2.5. Paste 145
23.2.6. Delete 145
23.2.7. Suppress 145
23.2.8. Command: Suppress 145
23.3. Expression Editor 145
23.4. Command: Variables Initialization 146
23.5. Starting a Program from a Selected Node 147
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23.5.1. Using Play from Selection 147
23.6. Using Breakpoints in a Program 147
23.7. Single Step in a Program 149
23.8. Command Tab 149
23.9. Graphics Tab 150
23.10. Variables Tab 151
23.11. Basic Program Nodes 152
23.11.1. Move 152
23.11.2. Fixed Waypoint 155
23.11.3. Relative Waypoint 160
23.11.4. Variable Waypoint 161
23.11.5. Direction 162
23.11.6. Until 163
23.11.7. Until-Tool Contact 163
23.11.8. Wait 165
23.11.9. Set 166
23.11.10. Popup 166
23.11.11. Halt 167
23.11.12. Comment 168
23.11.13. Folder 168
23.11.14. Set Payload 169
23.12. Advanced Program Nodes 170
23.12.1. Loop 170
23.12.2. If 170
23.12.3. SubProgram 172
23.12.4. Assignment 173
23.12.5. Script 173
23.12.6. Event 174
23.12.7. Thread 175
23.12.8. Switch 175
23.12.9. Timer 176
23.12.10. Home 177
23.13. Templates 177
23.13.1. Palletizing 177
23.13.2. Seek 183
23.13.3. Force 187
23.13.4. Force value selection 189
UR5e User Manual
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23.13.5. Speed limits 189
23.13.6. Test force settings 189
23.13.7. Conveyor Tracking 190
23.13.8. Screwdriving 191
23.13.9. Screwdrive Until 192
23.14. URCaps 193
23.14.1. Remote TCP and Toolpath URCap 193
23.14.2. Remote TCP Movement Types 195
23.14.3. Remote TCP Waypoint 195
23.14.4. Remote TCP Toolpath 196
23.14.5. Remote TCP 198
23.14.6. Remote TCP PCS 198
23.14.7. Regular TCP Toolpath Moves 201
24.Installation Tab 205
24.1. General 205
24.2. TCP Configuration 205
24.2.1. Position 205
24.2.2. Orientation 205
24.2.3. Adding, Renaming, Modifying and Removing TCPs 206
24.2.4. Teaching TCP position 206
24.2.5. Teaching TCP orientation 207
24.3. Payload 207
24.3.1. Adding, Renaming, Modfying and Removing Payloads 208
24.3.2. Setting the Center of Gravity 208
24.3.3. Payload Estimation 209
24.3.4. Inertia 209
24.4. Mounting 210
24.5. I/O Setup 211
24.5.1. I/O Signal Type 211
24.5.2. Assigning User-defined Names 212
24.5.3. I/O Actions and I/O Tab Control 212
24.6. Installation Variables 214
24.7. Startup 215
24.7.1. Loading a Startup Program 216
24.7.2. Starting a Startup Program 216
24.8. Tool I/O 216
24.9. I/O Interface Control 216
User Manual UR5e
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24.10. Tool Analog Inputs 217
24.10.1. Tool Communication Interface 217
24.10.2. Configuring the Tool Communication Interface (TCI) 217
24.11. Digital Output Mode 217
24.11.1. Dual Pin Power 218
24.12. Smooth Transition Between Safety Modes 218
24.12.1. Adjusting Acceleration/Deceleration Settings 218
24.13. Home 219
24.13.1. Defining Home 219
24.14. Conveyor Tracking Setup 219
24.14.1. Defining a Conveyor 220
24.14.2. Conveyor Parameters 220
24.14.3. Tracking Parameters 220
24.15. Screwdriving Setup 221
24.15.1. Configuring a Screwdriver 221
24.15.2. Configuring the Screwdriver Position 221
24.15.3. Configuring the Screwdriver Interface 223
24.16. Safety 223
24.17. Features 223
24.17.1. Using a feature 225
24.17.2. Using Move here 225
24.17.3. Point feature 225
24.17.4. Line feature 226
24.17.5. Plane Feature 227
24.17.6. Example: Manually Updating a Feature to Adjust a Program 228
24.17.7. Example: Dynamically Updating a Feature Pose 229
24.17.8. Feature Edit 231
24.18. Fieldbus 232
24.19. MODBUS Client I/O Setup 233
24.19.1. Refresh 233
24.19.2. Add unit 233
24.19.3. Delete unit 233
24.19.4. Set unit IP 233
24.19.5. Sequential mode 234
24.19.6. Add signal 234
24.19.7. Delete signal 234
24.19.8. Set signal type 234
UR5e User Manual
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24.19.9. Set signal address 235
24.19.10. Set signal name 235
24.19.11. Signal value 235
24.19.12. Signal connectivity status 235
24.19.13. Show Advanced Options 236
24.19.14. Advanced Options 236
24.20. EtherNet/IP 236
25.Move Tab 239
25.1. Move Tool 239
25.2. Robot 239
25.2.1. Feature 240
25.2.2. Active TCP 240
25.2.3. Home 240
25.2.4. Freedrive 240
25.2.5. Align 240
25.3. Tool Position 240
25.4. Joint Position 240
25.5. Pose Editor Screen 241
26.I/O Tab 245
26.1. Robot 245
26.2. MODBUS 246
27.Log Tab 249
27.1. Readings and Joint Load 249
27.2. Date Log 249
27.3. Saving Error Reports 250
27.4. Technical Support File 251
28.Program and Installation Manager 253
28.1. Open... 253
28.2. New... 254
28.3. Save... 255
28.4. File manager 256
29.Hamburger menu 259
29.1. Help 259
29.2. About 259
29.3. Settings 259
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29.3.1. Preferences 259
29.3.2. Password 260
29.4. System 261
29.4.1. Backup and Restore 261
29.4.2. Update 261
29.4.3. Network 262
29.4.4. Managing URCaps 262
29.4.5. Remote Control 263
29.4.6. Security 264
Running magic files 264
Configure Inbound Connections 265
Authentication 266
Managing Authorized Keys 266
29.5. Shutdown Robot 266
30.Glossary 268
30.1. Index 269
UR5e User Manual
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

1.Preface
Congratulations on the purchase of your new Universal Robots e-Series robot.
The robot can be programmed to move a tool, and communicate with other machines using
electrical signals. It is an arm composed of extruded aluminium tubes and joints.
Using our patented programming interface, PolyScope, it is easy to program the robot to move the
tool along a desired trajectory.
User Manual 1 UR5e
1.Preface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

2.1:The joints, the base and the tool flange of the Robot Arm.
With six joints and a wide scope of flexibility, Universal Robots e-Series collaborative robot arms
are designed to mimic the range of motion of a human arm. Using our patented programming
interface, PolyScope, it is easy to program the robot to move tools and communicate with other
machines using electrical signals. Figure 2.1:The joints, the base and the tool flange of the Robot
Arm.above illustrates the main components of the robot arm and can be used as a reference
throughout the manual.
1.1. What Do the Boxes Contain
When you order a robot, you receive two boxes. One contains the Robot Arm, the other contains:
•Control Box with Teach Pendant
•Mounting bracket for the Control Box
•Mounting bracket for the Teach Pendant
•Key for opening the Control Box
•Cable for connecting the robot arm and the Control Box (see options in 15.Technical
Specificationson page83)
•Mains cable or Power cable compatible to your region
•This manual
UR5e 2 User Manual
1.Preface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

1.2. Important Safety Notice
The robot is partly completed machinery (see) and as such a risk assessment is required for each
installation of the robot. You must follow all of the safety instructions in chapter 2.Safetyon
page7.
1.3. How to Read This Manual
This manual contains instructions for installing and programming the robot. The manual is
separated into two parts:
Hardware Installation Manual
The mechanical and electrical installation of the robot.
PolyScope Manual
Programming of the robot.
This manual is intended for the robot integrator who must have a basic level of mechanical and
electrical training, as well as be familiar with elementary programming concepts.
1.4. Where to Find More Information
The support website (www.universal-robots.com/support) contains the following:
•Other language versions of this manual
•PolyScope Manual
•The Service Manual with instructions for troubleshooting, maintenance and repair
•The Script Manual for advanced users
1.4.1. UR+
The UR+ site (www.universal-robots.com/plus) is an online showroom that provides cutting-edge
products to customize your UR robot application. You can find everything you need in one place—
from end-effectors and accessories to vision cameras and software. All products are tested and
approved to integrate with UR robots, ensuring simple set-up, reliable operation, smooth user
experience, and easy programming. You can also access the UR+ Partner Program via our new
software platform (plus.universal-robots.com), allowing you to design more user-friendly products
for UR robots.
1.4.2. UR Forums
The UR Forums site (forum.universal-robots.com) allows robot enthusiasts of all skill levels to
connect (connect to whom? eachother ot to UR?), ask questions, share (share what?)and learn.
While the UR Forum was created by UR+ and our admins are UR employees, the vast majority of the
content is created by you, the UR Forum user.
User Manual 3 UR5e
1.Preface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

UR5e 4 User Manual
1.Preface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

Part I
Hardware Installation Manual
User Manual 5 UR5e
Part I Hardware Installation Manual
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

UR5e 6 User Manual
Part I Hardware Installation Manual
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.