Universal Robots UR3/CB3 User manual

Universal Robots
UR3/CB3
Original instructions (en)
US version

Universal Robots
UR3/CB3
Euromap67
Version 3.10
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.
UR3/CB3 ii Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Contents
Preface xi
WhatDotheBoxesContain ........................................ xi
ImportantSafetyNotice .......................................... xii
HowtoReadThisManual......................................... xii
WheretoFindMoreInformation ..................................... xii
UR+ .................................................. xii
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 EmergencyStop ........................................... I-10
1.9 Movement With and Without Drive Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-10
2 Safety-related Functions and Interfaces I-13
2.1 Introduction.............................................. I-13
2.2 Stopping times of the Safety System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-14
2.3 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-14
2.4 SafetyModes ............................................. I-15
2.5 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-17
2.5.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-17
2.5.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-18
3 Transportation I-21
4 Mechanical Interface I-23
4.1 Introduction.............................................. I-23
4.2 WorkspaceoftheRobot ....................................... I-23
4.3 Mounting ............................................... I-23
4.4 MaximumPayload.......................................... I-27
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
iii UR3/CB3

5 Electrical Interface I-29
5.1 Introduction.............................................. I-29
5.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-29
5.3 ControllerI/O ............................................ I-31
5.3.1 Common specifications for all digital I/O . . . . . . . . . . . . . . . . . . . . . . . . I-31
5.3.2 SafetyI/O .......................................... I-33
5.3.3 General purpose digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-37
5.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-38
5.3.5 Communication with other machines or PLCs . . . . . . . . . . . . . . . . . . . . . I-38
5.3.6 General purpose analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-38
5.3.7 RemoteON/OFFcontrol.................................. I-40
5.4 ToolI/O................................................ I-41
5.4.1 ToolDigitalOutputs .................................... I-42
5.4.2 ToolDigitalInputs ..................................... I-43
5.4.3 ToolAnalogInputs..................................... I-44
5.5 Ethernet................................................ I-45
5.6 Mainsconnection........................................... I-45
5.7 Robotconnection........................................... I-46
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
A.1 Stop Category 0 stopping distances and times . . . . . . . . . . . . . . . . . . . . . . . . . . I-57
B Declarations and Certificates I-59
B.1 EU Declaration of Incorporation in accordance with ISO/IEC 17050-1:2010 . . . . . . . . . I-59
B.2 SafetySystemCertificate ...................................... I-61
B.3 TUVRheinland............................................ I-62
B.4 ChinaRoHS.............................................. I-63
B.5 KCCSafety .............................................. I-64
B.6 Environmental Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-65
B.7 EMCTestCertificate......................................... I-66
UR3/CB3 iv Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

B.8 CleanroomTestCertificates..................................... I-67
C Applied Standards I-69
D Technical Specifications I-77
E Safety Functions Tables I-79
E.1 Table1................................................. I-79
E.2 Table2................................................. I-82
II PolyScope Manual II-1
10 Safety Configuration II-3
10.1 Introduction.............................................. II-3
10.2 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-5
10.3 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-5
10.4 Tolerances............................................... II-6
10.5 SafetyChecksum........................................... II-7
10.6 SafetyModes ............................................. II-7
10.7 FreedriveMode............................................ II-7
10.7.1 Backdrive .......................................... II-8
10.8 PasswordLock ............................................ II-8
10.9 Apply ................................................. II-8
10.10GeneralLimits ............................................ II-9
10.11JointLimits .............................................. II-11
10.12Boundaries .............................................. II-12
10.12.1 Selecting a boundary to configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-13
10.12.23Dvisualization....................................... II-14
10.12.3 Safety plane configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-14
10.12.4 Tool Boundary configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-18
10.13SafetyI/O............................................... II-20
10.13.1InputSignals......................................... II-20
10.13.2OutputSignals ....................................... II-22
11 Begin programming II-25
11.1 Introduction.............................................. II-25
11.2 GettingStarted ............................................ II-25
11.2.1 Installing the Robot Arm and Control Box . . . . . . . . . . . . . . . . . . . . . . . . II-25
11.2.2 Turning the Control Box On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . . II-26
11.2.3 Turning the Robot Arm On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-26
11.2.4 QuickStart.......................................... II-27
11.2.5 TheFirstProgram...................................... II-27
11.3 PolyScope Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-28
11.4 WelcomeScreen ........................................... II-30
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
vUR3/CB3

11.5 InitializationScreen ......................................... II-31
12 On-screen Editors II-33
12.1 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-33
12.2 PoseEditorScreen .......................................... II-33
13 Robot Control II-37
13.1 MoveTab ............................................... II-37
13.1.1 Robot............................................. II-37
13.1.2 Feature and Tool Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-38
13.1.3 MoveTool .......................................... II-38
13.1.4 MoveJoints ......................................... II-38
13.1.5 Freedrive........................................... II-38
13.2 I/OTab ................................................ II-39
13.3 MODBUS ............................................... II-40
13.4 AutoMoveTab ............................................ II-41
13.5 Installation →Load/Save...................................... II-42
13.6 Installation →TCPConfiguration ................................. II-43
13.6.1 Adding, renaming, modifying and removing TCPs . . . . . . . . . . . . . . . . . . II-43
13.6.2 The default and the active TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-44
13.6.3 TeachingTCPposition ................................... II-44
13.6.4 Teaching TCP orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-45
13.6.5 Payload............................................ II-45
13.6.6 Centerofgravity ...................................... II-45
13.7 Installation →Mounting ...................................... II-46
13.8 Installation →I/OSetup ...................................... II-47
13.8.1 I/OSignalType....................................... II-48
13.8.2 Assigning User-defined Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-48
13.8.3 I/O Actions and I/O Tab Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-48
13.9 Installation →Safety......................................... II-49
13.10 Installation →Variables....................................... II-49
13.11 Installation →MODBUS client I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-50
13.12 Installation →Features ....................................... II-54
13.12.1Usingafeature ....................................... II-55
13.12.2NewPoint .......................................... II-56
13.12.3NewLine........................................... II-56
13.12.4PlaneFeature ........................................ II-58
13.12.5 Example: Manually Updating a Feature to Adjust a Program . . . . . . . . . . . . . II-58
13.12.6 Example: Dynamically Updating a Feature Pose . . . . . . . . . . . . . . . . . . . . II-59
13.13ConveyorTrackingSetup ...................................... II-60
13.14 Smooth Transition Between Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-61
13.14.1 Adjusting Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . . II-61
13.15 Installation →DefaultProgram .................................. II-62
13.16LogTab ................................................ II-63
UR3/CB3 vi Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

13.16.1SavingErrorReports.................................... II-64
13.17LoadScreen.............................................. II-65
13.18RunTab ................................................ II-67
14 Programming II-69
14.1 NewProgram............................................. II-69
14.2 ProgramTab ............................................. II-70
14.2.1 ProgramTree ........................................ II-70
14.2.2 Program Execution Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-71
14.2.3 SearchButton ........................................ II-71
14.2.4 Undo/RedoButtons .................................... II-72
14.2.5 ProgramDashboard .................................... II-72
14.3 Variables................................................ II-73
14.4 Command:Empty .......................................... II-73
14.5 Command:Move........................................... II-74
14.6 Command:FixedWaypoint..................................... II-77
14.7 Command: Relative Waypoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-83
14.8 Command: Variable Waypoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-84
14.9 Command:Direction......................................... II-84
14.10Command:Until........................................... II-85
14.11Command:Wait ........................................... II-87
14.12Command:Set ............................................ II-88
14.13Command:Popup .......................................... II-89
14.14Command:Halt ........................................... II-90
14.15Command:Comment ........................................ II-91
14.16Command:Folder .......................................... II-92
14.17Command:Loop........................................... II-93
14.18Command:SubProgram....................................... II-94
14.19Command:Assignment....................................... II-96
14.20Command:If ............................................. II-97
14.21Command:Script........................................... II-98
14.22Command:Event........................................... II-99
14.23Command:Thread.......................................... II-100
14.24Command:Switch .......................................... II-101
14.24.1Timer............................................. II-102
14.25Command:Pattern.......................................... II-103
14.26Command:Force........................................... II-104
14.27Command:Pallet........................................... II-108
14.28Command:Seek ........................................... II-109
14.29 Command: Conveyor Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-113
14.30Command:Suppress......................................... II-113
14.31GraphicsTab ............................................. II-113
14.32StructureTab ............................................. II-115
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
vii UR3/CB3

14.33VariablesTab ............................................. II-116
14.34 Command: Variables Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-117
15 Setup Screen II-119
15.1 LanguageandUnits ......................................... II-120
15.2 UpdateRobot............................................. II-121
15.3 SetPassword ............................................. II-122
15.4 CalibrateScreen ........................................... II-123
15.5 SetupNetwork ............................................ II-124
15.6 SetTime................................................ II-125
15.7 URCapsSetup ............................................ II-126
III EUROMAP 67 Interface III-1
16 Introduction III-3
16.1 EUROMAP67standard....................................... III-4
16.2 Statutorynotice............................................ III-4
17 Robot and IMM integration III-7
17.1 Emergency stop and safeguard stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-7
17.2 Connecting a MAF light guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-7
17.3 Mounting the robot and tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-8
17.4 Using the robot without an IMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-8
17.5 EUROMAP 12 to EUROMAP 67 conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . III-8
18 GUI III-11
18.1 EUROMAP 67 program template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-11
18.2 I/O overview and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-12
18.2.1 Control............................................ III-13
18.2.2 Manufacturer dependent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-14
18.2.3 Safety............................................. III-14
18.2.4 Status............................................. III-14
18.3 Program structure functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-14
18.3.1 StartupCheck ........................................ III-15
18.3.2 FreetoMould ........................................ III-16
18.3.3 WaitforItem......................................... III-17
18.3.4 EjectorForward....................................... III-18
18.3.5 EjectorBack ......................................... III-19
18.3.6 CorePullersIn........................................ III-20
18.3.7 CorePullersOut ...................................... III-20
18.4 I/Oactionandwait ......................................... III-21
UR3/CB3 viii Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

19 Installing and uninstalling the interface III-23
19.1 Installing ............................................... III-23
19.2 Uninstalling.............................................. III-24
20 Electrical characteristics III-27
20.1 MAFlightguardinterface...................................... III-27
20.2 Emergency stop, safety devices and MAF signals . . . . . . . . . . . . . . . . . . . . . . . . III-27
20.3 DigitalInputs............................................. III-28
20.4 DigitalOutputs............................................ III-28
Glossary III-29
Index III-31
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
ix UR3/CB3

UR3/CB3 xVersion 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Preface
Congratulations on the purchase of your new Universal Robots robot, UR3.
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.
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
• Mains cable or Power cable compatible to your region
• EUROMAP 67 cable
• Stylus pen with laser
• This manual
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
xi UR3/CB3

Where to Find More Information
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.
EUROMAP 67 Interface: Using the EUROMAP 67 interface.
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:
• 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 pro-
vides 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+ Devel-
oper Program to access our new software platform which allows you to design more user-friendly
products for UR robots.
UR3/CB3 xii Version 3.10
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 UR 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
important.
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 complete
system. The complete system must be designed and installed in accordance with the safety require-
ments 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 reg-
ulations 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
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
I-3 UR3/CB3

1.4 Warning Symbols in this Manual
• Specifying instructions for use
• 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 equip-
ment.
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.
UR3/CB3 I-4 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

1.5 General Warnings and Cautions
CAUTION:
This indicates a situation which, if not avoided, could result in dam-
age 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:
You must install the robot and all electrical equipment according to
the specifications and warnings found in chapters 4 and 5.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
I-5 UR3/CB3

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
corresponding error codes on the log screen, and contact your
supplier.
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 (Impedance/Backdrive) shall only be
used in installations where the risk assessment allows it.
Tool/end effectors and obstacles shall not have sharp edges or
pinch points.
10. Make sure to warn people to keep their heads and faces outside
the reach of the operating robot or robot about to start operating.
11. Be aware of robot movement when using the teach pendant.
12. 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.
UR3/CB3 I-6 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.