Universal Robots UR3/CB3 Bedienungsanleitung

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.

The Universal Robots logo is a registered trademark of Universal Robots A/S.

UR3/CB3 ii Version 3.10

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

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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

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

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

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

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

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