Universal Robots UR5/CB3 User manual

User Manual
UR5/CB3
Original instructions (en)

User Manual
UR5/CB3
Version 3.0 (rev. 15965)
Original instructions (en)
Serial number UR5:
Serial number CB3:

The information contained herein is the property of Universal Robots A/S and shall not be repro-
duced in whole or in part without prior written approval of Universal Robots A/S. The informa-
tion 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 © 2009-2014 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
UR5/CB3 ii Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.

Contents
Preface ix
What do the Boxes Contain . . . . . . . . . . . . . . . . . . . . . . . . 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-7
1.7 RiskAssessment.......................... I-7
1.8 EmergencyStop.......................... I-8
1.9 Movement Without Drive Power . . . . . . . . . . . . . . . . . . . . I-8
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-17
4.1 Introduction........................... I-17
4.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . I-17
4.3 ControllerI/O.......................... I-19
4.3.1 Common specifications for all digital I/O . . . . . . . . . . . . . . I-19
4.3.2 SafetyI/O......................... I-20
4.3.3 General purpose digital I/O. . . . . . . . . . . . . . . . . . . I-24
4.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . I-24
4.3.5 Communication with other machines or PLCs . . . . . . . . . . . . I-25
4.3.6 General purpose analog I/O. . . . . . . . . . . . . . . . . . . I-25
4.3.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . I-27
4.4 ToolI/O ............................ I-28
4.4.1 Tool Digital Outputs . . . . . . . . . . . . . . . . . . . . . I-29
4.4.2 Tool Digital Inputs . . . . . . . . . . . . . . . . . . . . . . I-30
4.4.3 Tool Analog Inputs . . . . . . . . . . . . . . . . . . . . . . I-30
Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.
iii UR5/CB3

4.5 Ethernet............................. I-31
4.6 Mainsconnection......................... I-32
4.7 Robotconnection......................... I-33
5 Safety-related Functions and Interfaces I-35
5.1 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . I-35
5.2 SafetyModes........................... I-37
5.3 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . I-37
5.3.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . I-37
5.3.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . I-39
6 Maintenance and Repair I-41
6.1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . I-41
7 Disposal and Environment I-43
8 Certifications I-45
8.1 Third Party Certifications . . . . . . . . . . . . . . . . . . . . . . I-45
8.2 Declarations According to EU directives . . . . . . . . . . . . . . . . . I-45
9 Warranties I-47
9.1 ProductWarranty......................... I-47
9.2 Disclaimer............................ I-47
A Stopping Time and Stopping Distance I-49
A.1 CATEGORY 0 stopping distances and times. . . . . . . . . . . . . . . . I-49
B Declarations and Certificates I-51
B.1 CE Declaration of Incorporation (original) . . . . . . . . . . . . . . . . I-51
B.2 Safety System Certificate. . . . . . . . . . . . . . . . . . . . . . . I-52
B.3 Environmental Test Certificate. . . . . . . . . . . . . . . . . . . . . I-53
B.4 EMC Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . I-54
C Applied Standards I-55
D Technical Specifications I-61
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
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
UR5/CB3 iv Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.

11 On-screen Editors II-11
11.1 On-screen Keypad . . . . . . . . . . . . . . . . . . . . . . . . . II-11
11.2 On-screen Keyboard . . . . . . . . . . . . . . . . . . . . . . . . II-12
11.3 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . II-12
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
12.1.5Teach........................... II-18
12.2I/OTab............................. II-19
12.3 MODBUS client I/O . . . . . . . . . . . . . . . . . . . . . . . . II-20
12.4AutoMoveTab.......................... II-20
12.5 Installation →Load/Save...................... II-22
12.6 Installation →TCP Configuration . . . . . . . . . . . . . . . . . . . II-23
12.7 Installation →Mounting....................... II-24
12.8 Installation →I/OSetup ...................... II-25
12.9 Installation →Safety........................ II-25
12.10 Installation →Variables....................... II-26
12.11 Installation →MODBUS client I/O Setup . . . . . . . . . . . . . . . . II-27
12.12 Installation →Features....................... II-30
12.13 Installation →Default Program . . . . . . . . . . . . . . . . . . . . II-34
12.13.1 Loading a Default Program . . . . . . . . . . . . . . . . . . . II-34
12.13.2 Starting a Default Program . . . . . . . . . . . . . . . . . . . II-34
12.13.3 Auto Initialization . . . . . . . . . . . . . . . . . . . . . . II-35
12.14LogTab............................. II-35
12.15LoadScreen........................... II-36
12.16RunTab............................. II-38
13 Programming II-39
13.1NewProgram .......................... II-39
13.2ProgramTab........................... II-40
13.3Variables............................ II-41
13.4Command:Empty......................... II-42
13.5Command:Move......................... II-42
13.6 Command: Fixed Waypoint . . . . . . . . . . . . . . . . . . . . . II-45
13.7 Setting the waypoint . . . . . . . . . . . . . . . . . . . . . . . . II-45
13.8 Command: Relative Waypoint. . . . . . . . . . . . . . . . . . . . . II-47
13.9 Command: Variable Waypoint . . . . . . . . . . . . . . . . . . . . II-48
13.10Command:Wait.......................... II-49
13.11Command:Set.......................... II-49
13.12 Command: Popup . . . . . . . . . . . . . . . . . . . . . . . . . II-50
13.13Command:Halt.......................... II-51
13.14 Command: Comment . . . . . . . . . . . . . . . . . . . . . . . . II-51
Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.
vUR5/CB3

13.15 Command: Folder . . . . . . . . . . . . . . . . . . . . . . . . . II-52
13.16Command:Loop......................... II-52
13.17 Command: SubProgram . . . . . . . . . . . . . . . . . . . . . . . II-53
13.18 Command: Assignment . . . . . . . . . . . . . . . . . . . . . . . II-54
13.19Command:If........................... II-55
13.20 Command: Script . . . . . . . . . . . . . . . . . . . . . . . . . II-56
13.21 Command: Event . . . . . . . . . . . . . . . . . . . . . . . . . II-57
13.22 Command: Thread . . . . . . . . . . . . . . . . . . . . . . . . . II-58
13.23 Command: Pattern . . . . . . . . . . . . . . . . . . . . . . . . . II-58
13.24 Command: Force . . . . . . . . . . . . . . . . . . . . . . . . . II-60
13.25 Command: Pallet . . . . . . . . . . . . . . . . . . . . . . . . . II-63
13.26Command:Seek.......................... II-64
13.27 Command: Suppress . . . . . . . . . . . . . . . . . . . . . . . . II-67
13.28GraphicsTab........................... II-68
13.29StructureTab........................... II-69
13.30VariablesTab........................... II-70
13.31 Command: Variables Initialization . . . . . . . . . . . . . . . . . . . II-71
14 Setup Screen II-73
14.1 Language and Units . . . . . . . . . . . . . . . . . . . . . . . . II-74
14.2UpdateRobot........................... II-75
14.3SetPassword........................... II-76
14.4 Calibrate Screen . . . . . . . . . . . . . . . . . . . . . . . . . . II-77
14.5SetupNetwork.......................... II-77
14.6SetTime............................. II-78
15 Safety Configuration II-79
15.1 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . II-80
15.2 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . II-80
15.3Tolerances............................ II-81
15.4 Safety Checksum . . . . . . . . . . . . . . . . . . . . . . . . . II-82
15.5SafetyModes........................... II-82
15.6TeachMode........................... II-83
15.7PasswordLock.......................... II-83
15.8Apply............................. II-83
15.9GeneralLimits.......................... II-84
15.10JointLimits ........................... II-87
15.11Boundaries............................ II-88
15.11.1 Selecting a boundary to configure. . . . . . . . . . . . . . . . . II-89
15.11.2 3D visualization . . . . . . . . . . . . . . . . . . . . . . . II-89
15.11.3 Safety plane configuration . . . . . . . . . . . . . . . . . . . II-90
15.11.4 Tool Boundary configuration . . . . . . . . . . . . . . . . . . II-93
15.12SafetyI/O............................ II-95
UR5/CB3 vi Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.

Glossary II-97
Index II-99
Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.
vii UR5/CB3

UR5/CB3 viii Version 3.0 (rev. 15965)
Copyright © 2009-2014 by Universal Robots A/S. All rights reserved.