Universal Robots e Series User manual

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

Universal Robots e-Series
User Manual
UR5e
Version 5.4
Original instructions (en)
US Version

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
manual is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2019 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
UR5e/e-Series ii Version 5.4
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Contents
Preface ix
WhatDotheBoxesContain........................................ ix
ImportantSafetyNotice.......................................... x
HowtoReadThisManual......................................... x
WheretoFindMoreInformation ..................................... x
UR+.................................................. xi
I Hardware Installation Manual I-1
1 Safety I-3
1.1 Introduction ............................................. I-3
1.2 ValidityandResponsibility..................................... I-3
1.3 LimitationofLiability........................................ I-4
1.4 Warning Symbols in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-4
1.5 General Warnings and Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-5
1.6 IntendedUse ............................................ I-8
1.7 RiskAssessment .......................................... I-8
1.8 Pre-UseAssessment ........................................ I-10
1.9 EmergencyStop........................................... I-10
1.10 Movement Without Drive Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-10
2 Safety-related Functions and Interfaces I-11
2.1 Introduction ............................................. I-11
2.2 StopCategories........................................... I-12
2.3 Configurable Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-12
2.4 SafetyFunction ........................................... I-16
2.5 Modes ................................................ I-16
3 Transportation I-19
4 Mechanical Interface I-21
4.1 Introduction ............................................. I-21
4.2 WorkspaceoftheRobot ...................................... I-21
4.3 Mounting............................................... I-21
4.4 MaximumPayload ......................................... I-26
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iii UR5e/e-Series

5 Electrical Interface I-27
5.1 Introduction ............................................. I-27
5.1.1 ControlBoxBracket .................................... I-27
5.2 Ethernet ............................................... I-27
5.3 Electrical Warnings and Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-28
5.4 ControllerI/O ............................................ I-30
5.4.1 Common specifications for all digital I/O . . . . . . . . . . . . . . . . . . . . . . . . I-31
5.4.2 SafetyI/O.......................................... I-32
5.4.3 General purpose digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-37
5.4.4 Digital Inputs from a button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-37
5.4.5 Communication with other machines or PLCs . . . . . . . . . . . . . . . . . . . . . I-37
5.4.6 General purpose analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-38
5.4.7 RemoteON/OFFcontrol.................................. I-39
5.5 MainsConnection.......................................... I-40
5.6 RobotConnection.......................................... I-42
5.7 ToolI/O ............................................... I-43
5.7.1 ToolPowerSupply..................................... I-44
5.7.2 ToolDigitalOutputs .................................... I-45
5.7.3 ToolDigitalInputs ..................................... I-46
5.7.4 ToolAnalogInput ..................................... I-46
5.7.5 Tool Communication I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-47
6 Maintenance and Repair I-49
6.1 SafetyInstructions ......................................... I-49
7 Disposal and Environment I-51
8 Certifications I-53
8.1 ThirdPartyCertification ...................................... I-53
8.2 Supplier Third Party Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-54
8.3 Manufacturer Test Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-54
8.4 Declarations According to EU directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-54
9 Warranties I-55
9.1 ProductWarranty .......................................... I-55
9.2 Disclaimer.............................................. I-56
A Stopping Time and Stopping Distance I-57
B Declarations and Certificates I-61
B.1 EU Declaration of Incorporation in accordance with ISO/IEC 17050-1:2010 . . . . . . . . . I-61
B.2 SafetySystemCertificate ..................................... I-63
B.3 ChinaRoHS ............................................. I-65
B.4 KCCSafety.............................................. I-66
B.5 Environmental Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-67
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B.6 EMCTestCertificate ........................................ I-68
C Applied Standards I-69
D Technical Specifications I-75
II PolyScope Manual II-1
10 Introduction II-3
10.1 PolyScopeBasics.......................................... II-3
10.1.1 HeaderIcons/Tabs .................................... II-3
10.1.2 FooterButtons....................................... II-5
10.2 GettingStartedScreen ....................................... II-5
11 Quick Start II-7
11.1 RobotArmBasics.......................................... II-7
11.1.1 Installing the Robot Arm and Control Box . . . . . . . . . . . . . . . . . . . . . . . . II-7
11.1.2 Turning Control Box On/Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-8
11.1.3 Turning Robot Arm On/Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-8
11.1.4 Initializing the Robot Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-9
11.2 QuickSystemStart-up ....................................... II-9
11.3 Robot Registration and URCap License files . . . . . . . . . . . . . . . . . . . . . . . . . . . II-10
12 Operational Mode Selection II-13
12.1 OperationalModes ......................................... II-13
12.2 Three-Position Enabling Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-15
12.2.1 ManualHighSpeed .................................... II-15
13 Safety Configuration II-17
13.1 SafetySettingsBasics ....................................... II-17
13.1.1 Accessing Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-17
13.1.2 Setting a Safety Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-18
13.1.3 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-18
13.1.4 Applying New Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . II-19
13.1.5 SafetyChecksum ..................................... II-19
13.2 SafetyMenuSettings........................................ II-19
13.2.1 RobotLimits ........................................ II-19
13.2.2 SafetyModes........................................ II-21
13.2.3 Tolerances ......................................... II-22
13.2.4 JointLimits......................................... II-22
13.2.5 Planes............................................ II-23
13.2.6 Freedrive .......................................... II-25
13.2.7 ToolPosition........................................ II-26
13.2.8 ToolDirection ....................................... II-27
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13.2.9 I/O.............................................. II-29
13.2.10Hardware.......................................... II-31
13.2.11SafeHomePosition.................................... II-31
14 Run Tab II-35
14.1 Program ............................................... II-35
14.2 Variables............................................... II-35
14.3 RobotAge .............................................. II-36
14.4 MoveRobotintoPosition...................................... II-36
15 Program Tab II-39
15.1 ProgramTree ............................................ II-39
15.1.1 Program Execution Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-40
15.1.2 SearchButton ....................................... II-40
15.1.3 ProgramTreeToolbar................................... II-40
15.1.4 ExpressionEditor ..................................... II-41
15.1.5 EmptyNode ........................................ II-42
15.2 CommandTab............................................ II-42
15.3 GraphicsTab ............................................ II-43
15.4 VariablesTab ............................................ II-44
15.5 Basicprogramnodes........................................ II-45
15.5.1 Move ............................................ II-45
15.5.2 Direction .......................................... II-54
15.5.3 Wait............................................. II-58
15.5.4 Set.............................................. II-58
15.5.5 Popup............................................ II-59
15.5.6 Halt ............................................. II-60
15.5.7 Comment.......................................... II-60
15.5.8 Folder............................................ II-61
15.6 Advancedprogramnodes ..................................... II-61
15.6.1 Loop............................................. II-61
15.6.2 SubProgram ........................................ II-62
15.6.3 Assignment......................................... II-63
15.6.4 If............................................... II-64
15.6.5 Script ............................................ II-65
15.6.6 Event ............................................ II-66
15.6.7 Thread ........................................... II-66
15.6.8 Screwdriving ........................................ II-67
15.6.9 Switch............................................ II-70
15.6.10Timer ............................................ II-71
15.6.11Home ............................................ II-71
15.7 Templates .............................................. II-72
15.7.1 Palletizing.......................................... II-72
15.7.2 Seek............................................. II-78
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15.7.3 Force ............................................ II-80
15.7.4 ConveyorTracking..................................... II-83
15.8 URCaps ............................................... II-84
15.8.1 Remote TCP URCap Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-84
15.8.2 Setting the RTCP from a Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-85
15.8.3 Remote TCP Move Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-85
15.8.4 RTCPMoveTypes ..................................... II-85
15.8.5 RTCPWaypoint....................................... II-86
15.9 TheFirstProgram.......................................... II-87
16 Installation Tab II-89
16.1 General................................................ II-89
16.1.1 TCPConfiguration..................................... II-89
16.1.2 Mounting.......................................... II-93
16.1.3 I/OSetup .......................................... II-94
16.1.4 Variables .......................................... II-96
16.1.5 Startup ........................................... II-97
16.1.6 ToolI/O........................................... II-98
16.1.7 Smooth Transition Between Safety Modes . . . . . . . . . . . . . . . . . . . . . . . II-99
16.1.8 Home ............................................ II-100
16.1.9 Conveyor Tracking Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-100
16.1.10ScrewdrivingSetup .................................... II-101
16.2 Safety ................................................ II-104
16.3 Features ............................................... II-104
16.3.1 Usingafeature....................................... II-105
16.3.2 AddingaPoint ....................................... II-106
16.3.3 AddingaLine........................................ II-107
16.3.4 PlaneFeature........................................ II-108
16.3.5 Example: Manually Updating a Feature to Adjust a Program . . . . . . . . . . . . . II-109
16.3.6 Example: Dynamically Updating a Feature Pose . . . . . . . . . . . . . . . . . . . . II-110
16.4 Fieldbus ............................................... II-111
16.4.1 MODBUS Client I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-111
16.4.2 Ethernet/IP......................................... II-114
17 Move Tab II-115
17.1 MoveTool .............................................. II-115
17.2 Robot................................................. II-115
17.3 ToolPosition ............................................ II-116
17.3.1 PoseEditorScreen..................................... II-116
17.4 JointPosition ............................................ II-118
18 I/O Tab II-121
18.1 Robot................................................. II-121
18.2 MODBUS............................................... II-122
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vii UR5e/e-Series

19 Log Tab II-125
19.1 ReadingsandJointLoad...................................... II-125
19.2 Datelog ............................................... II-125
19.3 SavingErrorReports ........................................ II-125
20 Program and Installation Manager II-127
20.1 Open... ................................................ II-127
20.2 New.................................................... II-128
20.3 Save... ................................................ II-129
20.4 Filemanager............................................. II-130
21 Hamburger menu II-131
21.1 Help ................................................. II-131
21.2 About................................................. II-131
21.3 Settings ............................................... II-131
21.3.1 Preferences......................................... II-131
21.3.2 Password.......................................... II-132
21.4 System................................................ II-132
21.4.1 Update ........................................... II-132
21.4.2 Network........................................... II-132
21.4.3 ManagingURCaps..................................... II-133
21.4.4 RemoteControl ...................................... II-133
21.5 ShutdownRobot .......................................... II-134
Glossary II-135
Index II-137
UR5e/e-Series viii Version 5.4
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Preface
Congratulations on the purchase of your new Universal Robots e-Series robot, UR5e.
The robot can be programmed to move a tool, and communicate with other machines using electri-
cal 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.
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 1 illustrates the main components of the robot arm and can be used
as a reference throughout the manual.
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
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ix UR5e/e-Series

Where to Find More Information
Figure 1: The joints, the base and the tool flange of the Robot Arm.
• Key for opening the Control Box
• Mains cable or Power cable compatible to your region
• This manual
Important Safety Notice
The robot is partly completed machinery (see 8.4) and as such a risk assessment is required for
each installation of the robot. You must follow all of the safety instructions in chapter 1.
How to Read This Manual
This manual contains instructions for installing and programming the robot. The manual is sepa-
rated 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.
Where to Find More Information
The support website (http://www.universal-robots.com/support) contains the following:
UR5e/e-Series x Version 5.4
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Where to Find More Information
• Other language versions of this manual
•PolyScope Manual
• The Service Manual with instructions for troubleshooting, maintenance and repair
• The Script Manual for advanced users
UR+
The UR+ site (http://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 use the site to join the UR+ Developer Pro-
gram to access our new software platform which allows you to design more user-friendly products
for UR robots.
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xi UR5e/e-Series

Where to Find More Information
UR5e/e-Series xii Version 5.4
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Part I
Hardware Installation Manual

1 Safety
1.1 Introduction
This chapter contains important safety information, which must be read and understood by the
integrator of Universal Robots e-Series robots before the robot is powered on for the first time.
In this chapter, the first subsections are general. The later subsections contain specific engineering
data relevant to enable setting up and programming the robot. Chapter 2 describes and defines
safety-related functions particularly relevant for collaborative applications.
Instructions and guidance provided in chapter 2 as well as in section 1.7 are particularly impor-
tant.
It is essential to observe and follow all assembly instructions and guidance provided in other chap-
ters and parts of this manual.
Special attention shall be paid to text associated with warning symbols.
NOTE:
Universal Robots disclaims any and all liability if the robot (arm con-
trol box and/or teach pendant) is damaged, changed or modified in
any way. Universal Robots cannot be held responsible for any dam-
ages caused to the robot or any other equipment due to programming
errors or malfunctioning of the robot.
1.2 Validity and Responsibility
The information in this manual does not cover designing, installing and operating a complete robot
application, nor does it cover all peripheral equipment that can influence the safety of the com-
plete system. The complete system must be designed and installed in accordance with the safety
requirements set forth in the standards and regulations of the country where the robot is installed.
The integrators of UR robots are responsible for ensuring that the applicable safety laws and regula-
tions in the country concerned are observed and that any significant hazards in the complete robot
application are eliminated. This includes, but is not limited to:
• Performing a risk assessment for the complete robot system
• Interfacing other machines and additional safety devices if defined by the risk assessment
• Setting up the appropriate safety settings in the software
• Ensuring that the user will not modify any safety measures
• Validating that the total robot system is designed and installed correctly
• Specifying instructions for use
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I-3 UR5e/e-Series

1.4 Warning Symbols in this Manual
• Marking the robot installation with relevant signs and contact information of the integrator
• Collecting all documentation in a technical file; including the risk assessment and this manual
1.3 Limitation of Liability
Any safety information provided in this manual must not be construed as a warranty, by UR, that the
industrial manipulator will not cause injury or damage, even if industrial manipulator complies with
all safety instructions.
1.4 Warning Symbols in this Manual
The symbols below define the captions specifying the danger levels used throughout this manual.
The same warning signs are used on the product.
DANGER:
This indicates an imminently hazardous electrical situation which, if
not avoided, could result in death or serious injury.
DANGER:
This indicates an imminently hazardous situation which, if not
avoided, could result in death or serious injury.
WARNING:
This indicates a potentially hazardous electrical situation which, if not
avoided, could result in injury or major damage to the equipment.
WARNING:
This indicates a potentially hazardous situation which, if not avoided,
could result in injury or major damage to the equipment.
WARNING:
This indicates a potentially hazardous hot surface which, if touched,
could result in injury.
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1.5 General Warnings and Cautions
CAUTION:
This indicates a situation which, if not avoided, could result in damage
to the equipment.
1.5 General Warnings and Cautions
This section contains some general warnings and cautions that can be repeated or explained in
different parts of this manual. Other warnings and cautions are present throughout this manual.
DANGER:
Make sure to install the robot and all electrical equipment according
to the specifications and warnings found in chapters 4 and 5.
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I-5 UR5e/e-Series

1.5 General Warnings and Cautions
WARNING:
1. Make sure the robot arm and tool/end effector are properly and
securely bolted in place.
2. Make sure the robot arm has ample space to operate freely.
3. Make sure that safety measures and/or robot safety configura-
tion parameters have been set up to protect both programmers,
operators and bystanders, as defined in the risk assessment.
4. Do not wear loose clothing or jewellery when working with the
robot. Make sure long hair is tied back when working with the
robot.
5. Never use the robot if it is damaged, for example if joint caps are
loose, broken or removed.
6. If the software prompts an error, immediately press emergency
stop, write down the conditions that led to the error, find the cor-
responding error codes on the log screen, and contact your sup-
plier.
7. Do not connect any safety equipment to standard I/O. Use
safety-related I/O only.
8. Make sure to use the correct installation settings (e.g. Robot
mounting angle, mass in TCP, TCP offset, safety configuration).
Save and load the installations file along with the program.
9. The freedrive function shall only be used in installations where
the risk assessment allows it.
10. Tool/end effectors and obstacles shall not have sharp edges or
pinch points.
11. Make sure to warn people to keep their heads and faces outside
the reach of the operating robot or robot about to start operating.
12. Be aware of robot movement when using the teach pendant.
13. If determined by the risk assessment, do not enter the safety
range of the robot or touch the robot when the system is in op-
eration.
UR5e/e-Series I-6 Version 5.4
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