Universal Robots e Series User manual

e-Series Injection Molding
Machine Interface (IMMI)
Installation Guide
Original instructions (en)

Contents
1.Introduction 1
1.1. About this document 1
1.2. What's in the box 1
1.3. Company Details 1
2.Safety 2
2.1. Safety message types 2
2.2. General safety precautions 2
2.3. IMMI safety precautions 3
2.3.1. Emergency Stop 5
2.3.2. Safeguard Stop 5
2.4. IMMI safety functions 5
3.Product description 7
3.1. Use of product 7
3.2. Components 7
3.3. Requirements 8
4.Cleaning your robot 10
4.1. Everyday cleaning 10
4.2. Additional cleaning 10
5.Mold Area Free (MAF) light curtain 11
6.Hardware installation 12
6.1. Required items 12
6.2. Installing the IMMI module 12
6.3. Connecting the ribbon cable to the IMMI 13
6.4. Connecting the IMM 14
7.Software installation 15
7.1. Configuring the IMMI module software 15
7.2. Uninstalling the IMMI module 16
8.IMMI module programming 17
8.1. Program structure 17
8.2. Creating a program structure 18
8.2.1. Program structure nodes 19
8.2.2. Using the IMMI template 23
Installation Guide e-Series Injection Molding Machine
Interface (IMMI)
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

9.IMMI I/O in regular program nodes 24
9.1. Using the IMMI I/O overview 24
9.1.1. IMMI I/O overview 24
9.1.2. How to use IMMI I/O in regular program nodes 25
10.Using the robot without the IMM 26
10.1. Connecting the bypass plug 26
11.Specifications 27
11.1. Electrical Specifications 27
12.Copyright and disclaimers 29
13.Compliance 30
13.1. EUROMAP 67 30
13.2. Shipping materials 30
13.3. Certification of quality 30
13.4. Certification of safety 30
13.5. TÜV NORD 31
e-Series Injection Molding Machine
Interface (IMMI) Installation Guide
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

1.Introduction
1.1. About this document
This guide describes how to install a UniversalRobots Injection Molding Machine Interface (IMMI)
module on a UniversalRobots e-Series control box and how to configure the Injection Molding
Machine Interface (IMMI) software, to interface with an Injection Molding Machine (IMM).
1.2. What's in the box
The box contains the following parts:
•IMMI module
•Cables:
•EUROMAP67 / SPI AN-146
•Ribbon cable
•Ground (GND) wire:
•M6 nut
•M6 washer
•Universal Robots EUROMAP67bypassplug
•This document
1.3. Company Details
UniversalRobotsA/S
Energivej 25, 5260 Odense S, Denmark
[phone]
https://www.universal-robots.com
Installation Guide 1 e-Series Injection Molding Machine
Interface (IMMI)
1.Introduction
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

2.Safety
2.1. Safety message types
Safety messages in this document contain information to help you avoid injury or equipment
damage. This document contains the following safety message types.
WARNING
This safety message indicates a hazardous situation that, if not avoided, could result
in death or serious injury.
CAUTION
This safety message indicates a hazardous situation that, if not avoided, could result
in minor or moderate injury.
NOTICE
This safety message indicates a situation that, if not avoided, could result in damage
to equipment or property.
2.2. General safety precautions
This section contains general safety precautions, read it before installing the IMMI.
For more information on safety, refer to the Safety section in the robot User Manual.
WARNING
Performing installation or maintenance of equipment connected to a power source
can lead to electric shock.
•Ensure the equipment is disconnected from the power source before
performing installation or maintenance.
e-Series Injection Molding Machine
Interface (IMMI) 2 Installation Guide
2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

WARNING
Incorrect connection of the power source or ground wires can result in personnel
injury or equipment damage.
Damage caused by invalid power source connection is not covered by warranty.
Before starting the operation:
•Ensure the power source wiring is correct.
•Ensure the grounding is correct.
WARNING
Failure to verify and validate the safeguarding and funtionality of the IMMImodule
can result in death or serious injury.
•Ensure all risk reduction works as intended and achieves the needed risk
reduction.
WARNING
Failure to perform a risk assessment before installing and operating the
IMMImodule can result in personnel injury or equipment damage.
•Perform a risk assessment before installing and operating the IMMImodule.
•Read the UniversalRobotse-Series Robot User Manual and Service Manual.
WARNING
This product includes the UniversalRobotse-Series robot. General safety
considerations that are valid for the UniversalRobotse-Series robot are also valid
for this product.
Failure to use the robot as described in the User Manual can lead to personnel
injury.
•For more information on safety, refer to the Safety section in the
UniversalRobotse-Series robot UserManual.
2.3. IMMI safety precautions
This section contains safety precautions specific to installing the IMMI.
Installation Guide 3 e-Series Injection Molding Machine
Interface (IMMI)
2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

WARNING
Unauthorized modification of the IMMI module can result in personnel injury or
equipment damage.
•Only qualified personnel must perform modifications.
•Perform a new risk assessment before and after modification.
WARNING
The absence of protection at the mold area to prevent access, or to detect presence
in the mold area, can result in personnel injury or equipment damage.
•Based on the risk assessment, safeguarding can be required for risks
associated with the mold area and also with the application of the UR robot.
WARNING
The Mould Area Free (MAF) signals are not intended for safeguarding.
•Integrate the UR robot, IMMI and any safeguarding in accordance with
manufacturers specifications and applicable standards.
•Apply mold area safeguarding if there is a risk of operators reaching into the
mold.
WARNING
Failure to coordinate the movement between the robot arm and the IMM can result in
personnel injury or equipment damage.
•Read and understand the EUROMAP 67 recommendation.
•Read and understand the IMMI module user guide.
•Integrate the UR robot, IMMI and any safeguarding in accordance with
manufacturers specifications and applicable standards.
NOTICE
Disconnecting the ribbon cable when the control box is powered on can result in
equipment damage.
•Power off the control box before disconnecting the ribbon cable.
e-Series Injection Molding Machine
Interface (IMMI) 4 Installation Guide
2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

NOTICE
Failure to connect the ground (GND)wire during installation can result in equipment
damage.
•Connect the ground cable to the control box before connecting the ribbon
cable.
2.3.1. Emergency Stop
The robot and the IMM send Emergency Stop safety signals to each other through the IMMI. When a
UR emergency stop is triggered, both the robot stops and the IMMI signals a stop to the IMM.
WARNING
Ensure all Emergency Stops halt the entire application before operating the
application.
2.3.2. Safeguard Stop
When the URrobot Safeguard Stop is triggered by the IMM, the robot stops.
WARNING
Reaching into the IMM workspace can lead to serious personnel injury.
•Integrate safeguarding to protect personnel without reliance on the non-safety
signals of the IMMI.
2.4. IMMI safety functions
This section contains information about the safety functions supported by the IMMI. Below describes
the UR IMMI safety outputs. Consult with the IMM manufacturerer for functional safety details of the
IMM.
These safety functions are in accordance with ISO 13849-1 and the connector pin assignments of
EUROMAP 67 / SPI AN-146.
URSafety function Cat./PL PFHd
Emergency stop 3/d 2.33E-7
Installation Guide 5 e-Series Injection Molding Machine
Interface (IMMI)
2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

URSafety function Cat./PL PFHd
Safe guard
stop
3/d 2.01E-7
Safety function 1
Emergency stop: Bidirectional
Name Emergency stop.
Type UR robot: Stop category 1 according to per IEC 60204-1.
IMM: See IMM documentation.
Triggering
event
UR robot: Emergency stop push-button is pressed; stop triggered by IMM.
IMM: See IMM documentation.
Reaction UR robot: Stop category 1 according to per IEC 60204-1.
IMM: See IMM documentation.
Safe state UR robot: Drive power to the robot is removed; stop is initiated to the IMM through
the IMMI.
IMM: See IMM documentation.
Intended use Stop all hazardous machine functions and remove power.
Safety function 2
UR safeguard stop input from the IMM
Name Safeguard stop.
Type For safeguarding (protection) of personnel from IMM risks.
Triggering event The IMM safeguard outputs change state, thereby triggering a safeguard
stop to the UR robot.
Reaction and
behavior on power
failure
Robot stops upon loss of power to the UR robot.
See IMM documentation to determine reaction of IMM and the safeguard
upon loss of power to the IMM or the IMM safeguard.
Safe state Robot is not moving and is in a monitored-standstill state (stop category 2
according to IEC 60204-1.
Intended use IMM Safeguarding.
e-Series Injection Molding Machine
Interface (IMMI) 6 Installation Guide
2.Safety
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

3.Product description
The e-Series e-Series Injection Molding Machine Interface (IMMI) is an industrial solution for
connecting a UniversalRobots e-Series controlbox to an Injection Molding Machine.
WARNING
Failure to connect the e-Series Injection Molding Machine Interface (IMMI) properly
can result in death or serious injury.
•Install the IMMImodule properly to meet regulatory requirements.
NOTICE
Failure to install the e-Series Injection Molding Machine Interface (IMMI) properly
can result in damage to equipment or property.
3.1. Use of product
The certification for this product is only applicable to the stop inferface of the e-Series Injection
Molding Machine Interface (IMMI) on UniversalRobots e-Seriescontrolboxes produced after 01
February 2020, where the control boxes are updated on the IMMIinterface and are in compliance
with EMCregulations.
Functional safety specifications are for the UR stop outputs on the IMMI. Integrated functional safety
specifications are the responsibility of the integrator as this includes the specifications of the
injection molding machine.
3.2. Components
The e-Series Injection Molding Machine Interface (IMMI) consists of the following components:
•e-SeriesIMMImodule
•e-SeriesIMMIcable
The e-Series Injection Molding Machine Interface (IMMI) application consists of the following
components:
•Injection molding machine compliant with EUROMAP 67 / SPI AN-146.
•Universal Robots e-Series robot, consisting a collaborative robot arm and a UR e-Series
control box (with Rev.F2 safety control board).
•e-Series IMMI module, including the IMMImodule and an IMMI cable.
•Robot end-effectors e.g. grippers.
Installation Guide 7 e-Series Injection Molding Machine
Interface (IMMI)
3.Product description
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

3.3. Requirements
The serial number of the control box must be newer than 2020020161. The hardware revision of the
safety control board electronics is Rev.F2.
NOTICE
Installing an e-Series Injection Molding Machine Interface (IMMI) in a control box
with a serial number lower than 2020020161 can result in damage to equipment or
property.
•Verify your control box serial number before installing the IMMI module.
•You can verify your safety control board if necessary.
Control box
The control box serial number is located on the underside of the control box bracket. The following
illustration shows the label and the control box serial number.
e-Series Injection Molding Machine
Interface (IMMI) 8 Installation Guide
3.Product description
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

Safety control board
The safety control board serial number is located on the back of the safety control board. You must
disassemble the control box bracket to access the Rev. F2 safety control board (F2 = RM).
NOTE
For more information about changing the safety control board, refer to the Control
Box chapter in the Service Manual available on the support website:
•https://www.universal-robots.com/support/
Installation Guide 9 e-Series Injection Molding Machine
Interface (IMMI)
3.Product description
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

4.Cleaning your robot
4.1. Everyday cleaning
You can wipe away any dust/dirt/oil observed on the robot arm and/or Teach Pendant using a cloth
and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10%
Naphtha. In rare cases, very small amounts of grease can be visible from the joint. This does not
affect the function, use, or lifetime of the joint.
4.2. Additional cleaning
Due to the added focus on cleaning your robot, UniversalRobots recommends cleaning with 70%
isopropyl alcohol (rubbing alcohol).
1. Wipe the robot with a hard twisted micro fiber cloth and 70% isopropyl alcohol (rubbing
alcohol).
2. Let the 70% isopropyl alcohol dwell on the robot for 5 minutes, and then clean the robot using
standard cleaning procedure.
DONOTUSEBLEACH. Do not use bleach in any diluted cleaning solution.
e-Series Injection Molding Machine
Interface (IMMI) 10 Installation Guide
4.Cleaning your robot
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

5.Mold Area Free (MAF) light curtain
This section describes the EUROMAP use of a Mold Area Free (MAF) light curtain.
WARNING
The IMMIMold Area Free (MAF) signals are not intended for safeguarding of
personnel.
•Apply safeguarding if there is a risk of operators reaching into the mold.
•Integrate safeguarding in accordance with applicable standards, for example:
IEC 62046, ISO 13855.
NOTICE
Failure to use a Mold Area Free (MAF) light curtain can result in unplanned mold
closure which can cause equipment damage.
•Use the IMMI to signal the state of the MAF light curtain, if used.
NOTICE
The 24 V supply available from the MAF connector on the IMMI module is current
limited. Exceeding the specified output current can result in a stop.
The MAF light curtain signal is not for safety purposes; it simply provides a status signal to the IMM.
Connect the MAF using the dedicated digital MAF input connector on the IMMI module. The MAF
input is a pnp-type. When connected, the MAF input is high when the light curtain is not obstructed.
Installation Guide 11 e-Series Injection Molding Machine
Interface (IMMI)
5.Mold Area Free (MAF) light curtain
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

6.Hardware installation
This section describes how to install the IMMImodule hardware. For information on configuring the
IMMImodule software, see 7.Software installationon page15.
6.1. Required items
You need the following items to install the IMMI module:
•One M6 nut
•One M6 washer
•A TX20 Torx screwdriver
•A box cutter with a 2.5cm (max) blade
•Cutting nippers
6.2. Installing the IMMI module
To install the IMMI module
1. Power down the control box and disconnect the mains cable from the power source.
2. Remove the plate cover on the side of the control box.
Keep the screws and the tooth lock washers to continue installing the hardware.
1 screw 2 tooth lock washer
3 removed plate 4 IMMI module
e-Series Injection Molding Machine
Interface (IMMI) 12 Installation Guide
6.Hardware installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

3. Orient the IMMI module so all ports are at the top, and use the screws and tooth lock washers
from the control box plate to mount the module from the inside of the control box.
NOTICE
Torque the control box plate screws to 1.5Nm to avoid property damage.
4. Use the M6 nut and M6 washer to connect the ground wire to the IMMI module and the control
box.
6.3. Connecting the ribbon cable to the IMMI
CAUTION
Removing the perforated strip can expose sharp edges, resulting in personnel
injury.
•Handle the removed strip with care.
NOTICE
Inserting sharp and/or bladed tools too far into the EXTENSION BUS can result in
property damage.
•Insert sharp and/or bladed tools into the EXTENSION BUS with care.
To connect the ribbon cable to the IMMI
1. Use the box cutter to cut through the EXTENSION BUS part of the control box label, and
through the perforated strip.
2. Use the box cutter or cutting nippers to remove the perforated strip and expose the
EXTENSIONBUS connection port.
3. Connect one end of the ribbon cable to the newly exposed EXTENSION BUS connection port.
4. Connect the other end of the ribbon cable to the control box connection port.
Installation Guide 13 e-Series Injection Molding Machine
Interface (IMMI)
6.Hardware installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

1 EXTENSION BUS connection port 2 ribbon cable
3 ground connection
NOTICE
Incorrect ribbon cable connection can result in damage to property.
•Ensure the ribbon cable is in line with the top of the EXTENSION BUS
connection port.
6.4. Connecting the IMM
To connect the IMM
1. Connect the IMM plug to the IMMI module and secure the safety clamps into place.
2. Or connect the EUROMAP67bypassplug to the IMMI module and snap the clamps into
place. See 10.Using the robot without the IMMon page26.
3. Connect the mains cable to the power source and power on the control box.
4. Wait for an on-screen message on PolyScope that the IMMI must be enabled in the Safety
Settings.
e-Series Injection Molding Machine
Interface (IMMI) 14 Installation Guide
6.Hardware installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

7.Software installation
This section describes how to configure the IMMImodule software. For information on installing the
IMMImodule hardware, see 6.Hardware installationon page12.
7.1. Configuring the IMMI module software
To configure the IMMI module software
1. On PolyScope, in the Header, tap Installation and select Safety.
2. Tap Hardware and unlock the options on the Select available hardware screen.
A password is required to unlock this screen.
3. In the Injection molding machine interface drop-down list, select the desired
recommendation.
4. Tap Apply to restart the system. PolyScope continues to run.
5. Tap Confirm Safety Configuration to complete the IMMI software installation.
Installation Guide 15 e-Series Injection Molding Machine
Interface (IMMI)
7.Software installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.

7.2. Uninstalling the IMMI module
To uninstall the IMMI module
1. On PolyScope, use your password to access the Select available hardware screen.
2. In the Injection molding machine interface drop-down list, select None.
3. Tap Apply to restart the system. PolyScope continues to run.
4. Tap Confirm Safety Configuration.
5. Power down the control box and disconnect the mains cable from the power source.
6. Disconnect the IMM plug from the IMMI module.
7. Dismount the interface.
•Remove the ribbon cable.
•Remove the M6 nut to disconnect ground connector.
•Remove the M6 screws and tooth lock washers to remove the IMMI module.
•Use the M6 screws and tooth lock washers to reattach the plate to the control box.
e-Series Injection Molding Machine
Interface (IMMI) 16 Installation Guide
7.Software installation
Copyright © 2019–2021 by UniversalRobotsA/S. All rights reserved.