Universal Robots UR5 User manual

User Manual
UR5/CB3
Original instructions (en)
US version

User Manual
UR5/CB3
Version 3.1 (rev. 17782)
Original instructions (en)
US Version
Serial number UR5:
Serial number CB3:

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 © 2009-2015 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
UR5/CB3 ii Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.

Contents
Preface ix
WhatdotheBoxesContain.......................... ix
ImportantSafetyNotice........................... x
HowtoReadThisManual.......................... x
Where to Find More Information . . . . . . . . . . . . . . . . . . . . . . . . x
I Hardware Installation Manual I-1
1 Safety I-3
1.1 Introduction............................. I-3
1.2 Validity and Responsibility . . . . . . . . . . . . . . . . . . . . . . . . I-3
1.3 Limitation of Liability. . . . . . . . . . . . . . . . . . . . . . . . . . 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-9
1.9 Movement Without Drive Power. . . . . . . . . . . . . . . . . . . . . . I-10
2 Transportation I-11
3 Mechanical Interface I-13
3.1 Workspace of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . I-13
3.2 Mounting.............................. I-13
4 Electrical Interface I-19
4.1 Introduction............................. I-19
4.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . . . I-19
4.3 ControllerI/O............................ I-21
4.3.1 Common specifications for all digital I/O . . . . . . . . . . . . . . . . I-21
4.3.2 SafetyI/O........................... I-23
4.3.3 General purpose digital I/O . . . . . . . . . . . . . . . . . . . . . I-27
4.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . . . I-27
4.3.5 Communication with other machines or PLCs . . . . . . . . . . . . . . I-28
4.3.6 General purpose analog I/O. . . . . . . . . . . . . . . . . . . . . I-28
4.3.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . . . I-30
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
iii UR5/CB3

4.4 ToolI/O .............................. I-31
4.4.1 Tool Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . I-32
4.4.2 Tool Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . I-33
4.4.3 Tool Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . I-34
4.5 Ethernet............................... I-35
4.6 Mainsconnection........................... I-35
4.7 Robotconnection........................... I-36
5 Safety-related Functions and Interfaces I-39
5.1 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . . . I-39
5.2 SafetyModes............................. I-41
5.3 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . . . I-42
5.3.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . . . I-42
5.3.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . . . I-43
6 Maintenance and Repair I-45
6.1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . I-45
7 Disposal and Environment I-47
8 Certifications I-49
8.1 Third Party Certifications . . . . . . . . . . . . . . . . . . . . . . . . I-49
8.2 Declarations According to EU directives . . . . . . . . . . . . . . . . . . . I-49
9 Warranties I-51
9.1 ProductWarranty........................... I-51
9.2 Disclaimer.............................. I-51
A Stopping Time and Stopping Distance I-53
A.1 CATEGORY 0 stopping distances and times . . . . . . . . . . . . . . . . . . I-53
B Declarations and Certificates I-55
B.1 CE Declaration of Incorporation (original) . . . . . . . . . . . . . . . . . . I-55
B.2 Safety System Certificate. . . . . . . . . . . . . . . . . . . . . . . . . I-56
B.3 Environmental Test Certificate. . . . . . . . . . . . . . . . . . . . . . . I-57
B.4 EMC Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . I-58
C Applied Standards I-59
D Technical Specifications I-65
II PolyScope Manual II-1
10 Introduction II-3
10.1GettingStarted............................ II-3
10.1.1 Installing the Robot Arm and Control Box. . . . . . . . . . . . . . . . II-3
UR5/CB3 iv Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.

10.1.2 Turning the Control Box On and Off . . . . . . . . . . . . . . . . . . II-4
10.1.3 Turning the Robot Arm On and Off . . . . . . . . . . . . . . . . . . II-4
10.1.4QuickStart........................... II-4
10.1.5 The First Program . . . . . . . . . . . . . . . . . . . . . . . . II-5
10.2 PolyScope Programming Interface . . . . . . . . . . . . . . . . . . . . . II-6
10.3WelcomeScreen............................ II-8
10.4 Initialization Screen . . . . . . . . . . . . . . . . . . . . . . . . . . II-9
11 On-screen Editors II-11
11.1On-screenKeypad...........................II-11
11.2 On-screen Keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . II-12
11.3 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . . . II-13
11.4 Pose Editor Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . II-13
12 Robot Control II-17
12.1MoveTab..............................II-17
12.1.1Robot.............................II-17
12.1.2 Feature and Tool Position . . . . . . . . . . . . . . . . . . . . . . II-18
12.1.3MoveTool...........................II-18
12.1.4MoveJoints...........................II-18
12.1.5Freedrive ...........................II-18
12.2I/OTab...............................II-19
12.3 MODBUS client I/O . . . . . . . . . . . . . . . . . . . . . . . . . . II-20
12.4AutoMoveTab............................II-21
12.5 Installation →Load/Save........................II-22
12.6 Installation →TCP Configuration . . . . . . . . . . . . . . . . . . . . . II-23
12.6.1 Adding, modifying and removing TCPs . . . . . . . . . . . . . . . . II-24
12.6.2 The default and the active TCP. . . . . . . . . . . . . . . . . . . . II-24
12.6.3 Teaching TCP position . . . . . . . . . . . . . . . . . . . . . . . II-24
12.6.4 Teaching TCP orientation . . . . . . . . . . . . . . . . . . . . . . II-25
12.6.5Payload............................II-26
12.6.6 Center of gravity . . . . . . . . . . . . . . . . . . . . . . . . . II-26
12.7 Installation →Mounting.........................II-26
12.8 Installation →I/OSetup ........................II-28
12.9 Installation →Safety..........................II-29
12.10 Installation →Variables.........................II-29
12.11 Installation →MODBUS client I/O Setup . . . . . . . . . . . . . . . . . . II-30
12.12 Installation →Features.........................II-33
12.13 Conveyor Tracking Setup . . . . . . . . . . . . . . . . . . . . . . . . II-37
12.14 Installation →DefaultProgram......................II-38
12.14.1 Loading a Default Program . . . . . . . . . . . . . . . . . . . . . II-39
12.14.2 Starting a Default Program . . . . . . . . . . . . . . . . . . . . . II-39
12.14.3 Auto Initialization . . . . . . . . . . . . . . . . . . . . . . . . II-39
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
vUR5/CB3

12.15LogTab...............................II-40
12.16LoadScreen.............................II-40
12.17RunTab...............................II-43
13 Programming II-45
13.1NewProgram ............................II-45
13.2ProgramTab.............................II-46
13.2.1ProgramTree..........................II-46
13.2.2 Program Execution Indication . . . . . . . . . . . . . . . . . . . . II-47
13.2.3 Undo/Redo Buttons . . . . . . . . . . . . . . . . . . . . . . . II-47
13.2.4 Program Dashboard. . . . . . . . . . . . . . . . . . . . . . . . II-48
13.3Variables..............................II-49
13.4Command:Empty...........................II-49
13.5Command:Move...........................II-50
13.6 Command: Fixed Waypoint . . . . . . . . . . . . . . . . . . . . . . . II-53
13.7 Command: Relative Waypoint. . . . . . . . . . . . . . . . . . . . . . . II-55
13.8 Command: Variable Waypoint . . . . . . . . . . . . . . . . . . . . . . II-56
13.9Command:Wait............................II-57
13.10Command:Set............................II-58
13.11Command:Popup...........................II-59
13.12Command:Halt............................II-60
13.13 Command: Comment . . . . . . . . . . . . . . . . . . . . . . . . . . II-61
13.14Command:Folder...........................II-62
13.15Command:Loop...........................II-63
13.16 Command: SubProgram . . . . . . . . . . . . . . . . . . . . . . . . . II-64
13.17 Command: Assignment . . . . . . . . . . . . . . . . . . . . . . . . . II-66
13.18Command:If.............................II-67
13.19Command:Script...........................II-68
13.20Command:Event...........................II-69
13.21Command:Thread...........................II-70
13.22 Command: Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . II-71
13.23Command:Force...........................II-72
13.24Command:Pallet...........................II-75
13.25Command:Seek............................II-76
13.26 Command: Start/Stop Conveyor Tracking . . . . . . . . . . . . . . . . . . II-80
13.27 Command: Suppress . . . . . . . . . . . . . . . . . . . . . . . . . . II-80
13.28GraphicsTab.............................II-80
13.29StructureTab.............................II-82
13.30VariablesTab.............................II-83
13.31 Command: Variables Initialization . . . . . . . . . . . . . . . . . . . . . II-84
UR5/CB3 vi Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.

14 Setup Screen II-85
14.1 Language and Units . . . . . . . . . . . . . . . . . . . . . . . . . . II-86
14.2UpdateRobot.............................II-87
14.3SetPassword.............................II-88
14.4CalibrateScreen............................II-89
14.5SetupNetwork............................II-90
14.6SetTime...............................II-91
15 Safety Configuration II-93
15.1 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . . . II-94
15.2 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . . . II-95
15.3Tolerances..............................II-95
15.4SafetyChecksum...........................II-96
15.5SafetyModes.............................II-96
15.6FreedriveMode............................II-97
15.7PasswordLock............................II-97
15.8Apply...............................II-98
15.9GeneralLimits............................II-98
15.10JointLimits .............................II-101
15.11Boundaries..............................II-102
15.11.1 Selecting a boundary to configure. . . . . . . . . . . . . . . . . . . II-103
15.11.2 3D visualization . . . . . . . . . . . . . . . . . . . . . . . . . II-104
15.11.3 Safety plane configuration . . . . . . . . . . . . . . . . . . . . . II-104
15.11.4 Tool Boundary configuration . . . . . . . . . . . . . . . . . . . . II-108
15.12SafetyI/O..............................II-110
Glossary II-113
Index II-115
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
vii UR5/CB3

UR5/CB3 viii Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.