Universal Robots UR5e User manual

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

Universal Robots e-Series
User Manual
UR5e
Version 5.0.2
Original instructions (en)

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 © 2009–2018 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
UR5e/CB5 ii Version 5.0.2
Copyright © 2009–2018 by Universal Robots A/S. All rights reserved.

Contents
Preface ix
WhatDotheBoxesContain...................................... ix
ImportantSafetyNotice........................................ x
HowtoReadThisManual....................................... x
WheretoFindMoreInformation ................................... 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 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-13
2.1 Introduction ........................................... I-13
2.2 StopCategories......................................... I-14
2.3 SafetyFunctions ........................................ I-14
2.4 SafetyFunction ......................................... I-15
2.5 Modes .............................................. I-17
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-25
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-30
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iii UR5e/CB5

5.4.2 SafetyI/O........................................ I-31
5.4.3 General purpose digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-35
5.4.4 Digital Inputs from a button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-36
5.4.5 Communication with other machines or PLCs . . . . . . . . . . . . . . . . . . . I-36
5.4.6 General purpose analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-36
5.4.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-38
5.5 MainsConnection........................................ I-39
5.6 RobotConnection........................................ I-40
5.7 ToolI/O ............................................. I-41
5.7.1 ToolDigitalOutputs .................................. I-42
5.7.2 ToolDigitalInputs ................................... I-42
5.7.3 ToolAnalogInput ................................... I-43
5.7.4 Tool Communication I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-44
6 Maintenance and Repair I-45
6.1 SafetyInstructions ....................................... I-45
7 Disposal and Environment I-47
8 Certifications I-49
8.1 ThirdPartyCertification .................................... I-49
8.2 Supplier Third Party Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-49
8.3 Manufacturer Test Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-49
8.4 Declarations According to EU directives . . . . . . . . . . . . . . . . . . . . . . . . . . . I-50
9 Warranties I-51
9.1 ProductWarranty ........................................ I-51
9.2 Disclaimer............................................ I-51
A Stopping Time and Stopping Distance I-53
B Declarations and Certificates I-57
B.1 CE/EU Declaration of Incorporation (original) . . . . . . . . . . . . . . . . . . . . . . . . I-57
B.2 SafetySystemCertificate ................................... I-58
B.3 Environmental Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-60
B.4 EMCTestCertificate ...................................... I-61
C Applied Standards I-63
D Technical Specifications I-69
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-4
10.2 GettingStartedScreen ..................................... II-5
UR5e/CB5 iv Version 5.0.2
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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
11.2 QuickSystemStart-up ..................................... II-8
12 Operational Mode Selection II-11
12.1 OperationalModes ....................................... II-11
12.2 3-Position Enabling Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-12
12.2.1 ManualHighSpeed .................................. II-13
13 Safety Configuration II-15
13.1 SafetySettingsBasics ..................................... II-15
13.1.1 Accessing Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . II-15
13.1.2 Setting a Safety Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-16
13.1.3 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . II-16
13.1.4 Applying New Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . II-17
13.1.5 SafetyChecksum ................................... II-17
13.2 SafetyMenuSettings...................................... II-17
13.2.1 RobotLimits ...................................... II-17
13.2.2 SafetyModes...................................... II-19
13.2.3 Tolerances ....................................... II-20
13.2.4 JointLimits....................................... II-20
13.2.5 Planes.......................................... II-21
13.2.6 ToolPosition...................................... II-23
13.2.7 ToolDirection ..................................... II-24
13.2.8 I/O............................................ II-26
13.2.9 Hardware........................................ II-27
14 Run Tab II-29
14.1 Program ............................................. II-29
14.2 Variables............................................. II-29
14.3 RobotAge ............................................ II-30
14.4 MoveRobotintoPosition.................................... II-30
15 Initialize Tab II-33
15.1 Robot Arm State Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-33
15.2 Active Payload and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-33
15.3 Initializing the Robot Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-34
15.4 InstallationFile ......................................... II-34
16 Program Tab II-37
16.1 ProgramTree .......................................... II-37
16.1.1 Program Execution Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-38
16.1.2 SearchButton ..................................... II-38
16.1.3 Program Tree Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-38
16.1.4 EmptyNode ...................................... II-39
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16.2 CommandTab.......................................... II-39
16.3 GraphicsTab .......................................... II-41
16.4 VariablesTab .......................................... II-42
16.5 Basicprogramnodes...................................... II-42
16.5.1 Move .......................................... II-42
16.5.2 Wait........................................... II-51
16.5.3 Set............................................ II-52
16.5.4 Popup.......................................... II-52
16.5.5 Halt ........................................... II-53
16.5.6 Comment........................................ II-53
16.5.7 Folder.......................................... II-54
16.6 Advancedprogramnodes ................................... II-54
16.6.1 Loop........................................... II-54
16.6.2 SubProgram ...................................... II-55
16.6.3 Assignment....................................... II-56
16.6.4 If............................................. II-56
16.6.5 Script .......................................... II-57
16.6.6 Event .......................................... II-58
16.6.7 Thread ......................................... II-58
16.6.8 Switch.......................................... II-59
16.7 Wizards ............................................. II-59
16.7.1 Pallet .......................................... II-59
16.7.2 Seek........................................... II-61
16.7.3 Force .......................................... II-64
16.8 URCaps ............................................. II-66
16.8.1 ConveyorTracking................................... II-66
16.9 TheFirstProgram........................................ II-67
17 Installation Tab II-69
17.1 General.............................................. II-69
17.1.1 TCPConfiguration................................... II-69
17.1.2 Mounting........................................ II-72
17.1.3 I/OSetup ........................................ II-73
17.1.4 I/OSignalType..................................... II-74
17.1.5 Assigning User-defined Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-74
17.1.6 I/O Actions and I/O Tab Control . . . . . . . . . . . . . . . . . . . . . . . . . . . II-74
17.1.7 ConveyorTracking................................... II-75
17.1.8 Variables ........................................ II-76
17.1.9 Startup ......................................... II-77
17.1.10Tool ........................................... II-78
17.2 Safety .............................................. II-78
17.3 Features ............................................. II-79
17.3.1 Usingafeature..................................... II-80
17.3.2 AddingaPoint ..................................... II-80
17.3.3 AddineaLine...................................... II-81
17.3.4 PlaneFeature...................................... II-82
17.3.5 Example: Manually Updating a Feature to Adjust a Program . . . . . . . . . . . II-83
UR5e/CB5 vi Version 5.0.2
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17.3.6 Example: Dynamically Updating a Feature Pose . . . . . . . . . . . . . . . . . . II-84
17.4 Fieldbus ............................................. II-84
17.4.1 MODBUS client I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-85
17.4.2 Ethernet/IP....................................... II-88
18 Move Tab II-89
18.1 MoveTool ............................................ II-89
18.2 Robot............................................... II-89
18.3 ToolPosition .......................................... II-90
18.3.1 PoseEditorScreen................................... II-90
18.4 JointPosition .......................................... II-92
18.5 Home............................................... II-92
18.6 Freedrive............................................. II-92
19 I/O Tab II-95
19.1 Robot............................................... II-95
19.2 MODBUS............................................. II-96
19.2.1 Inputs.......................................... II-96
19.2.2 Outputs......................................... II-96
20 Log Tab II-97
20.1 Readings............................................. II-97
20.2 JointLoad............................................ II-97
20.3 DateLog............................................. II-97
20.4 SavingErrorReports ...................................... II-97
21 File manager II-99
21.1 Open... .............................................. II-99
21.2 New.................................................. II-100
21.3 Save... .............................................. II-101
22 Hamburger menu II-103
22.1 Help ............................................... II-103
22.2 About............................................... II-103
22.3 Settings ............................................. II-103
22.3.1 Preferences....................................... II-103
22.3.2 Password........................................ II-104
22.3.3 System ......................................... II-104
Glossary II-107
Index II-109
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vii UR5e/CB5

UR5e/CB5 viii Version 5.0.2
Copyright © 2009–2018 by Universal Robots A/S. All rights reserved.

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
electrical 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 complete 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
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ix UR5e/CB5

Where to Find More Information
Figure 1: Klouby, základna a příruba nástroje ramene robota.
• Stylus pen with laser
• 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.
Note: 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 sep-
arated 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) available to all UR distrib-
utors, contains additional information such as:
• Other language versions of this manual
• The PolyScope Manual updates after the PolyScope is upgraded to a new version
UR5e/CB5 x Version 5.0.2
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Where to Find More Information
• The Service Manual with instructions for troubleshooting, maintenance and repair of the
robot
• The Script Manual for advanced users
• The URCAPS an online platform for purchasing Universal Robots accessories and periph-
erals
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xi UR5e/CB5

Where to Find More Information
UR5e/CB5 xii Version 5.0.2
Copyright © 2009–2018 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 engi-
neering 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
chapters 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
control box and/or teach pendant) is damaged, changed or mod-
ified in any way. Universal Robots cannot be held responsible for
any damages 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 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 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
• Specifying instructions for use
• Marking the robot installation with relevant signs and contact information of the integrator
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1.4 Warning Symbols in this Manual
• Collecting all documentation in a technical file; including the risk assessment and this man-
ual
Guidance on how to find and read applicable standards and laws is provided on http://universal-robots.
com/support/
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 man-
ual. 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.
CAUTION:
This indicates a situation which, if not avoided, could result in dam-
age to the equipment.
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1.5 General Warnings and Cautions
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 accord-
ing to the specifications and warnings found in chapters 4 and
5.
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I-5 UR5e/CB5

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 configu-
ration parameters have been set up to protect both program-
mers, operators and bystanders, as defined in the risk assess-
ment.
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 emer-
gency 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 configura-
tion). Save and load the installations file along with the pro-
gram.
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 out-
side 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
operation.
UR5e/CB5 I-6 Version 5.0.2
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