Universal Robots UR3/CB3 Manuel utilisateur

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

Version 3.10

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

Autres manuels pour UR3/CB3

Table des matières

Autres manuels Universal Robots Robotique

Universal Robots

Universal Robots ActiNav Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots ur3 Manuel utilisateur

Universal Robots

Universal Robots UR3/CB3 Manuel utilisateur

Universal Robots

Universal Robots 3PE Teach Pendant Manuel utilisateur

Universal Robots

Universal Robots e Series Manuel utilisateur

Universal Robots

Universal Robots ActiNav Manuel utilisateur

Universal Robots

Universal Robots UR10/CB3 Manuel utilisateur

Universal Robots

Universal Robots UR20 Manuel utilisateur

Universal Robots

Universal Robots OEM Control Box Manuel utilisateur

Universal Robots

Universal Robots e Series Manuel utilisateur

Universal Robots

Universal Robots ur3 Manuel utilisateur

Universal Robots

Universal Robots OEM UR5 Manuel utilisateur

Universal Robots

Universal Robots UR10 Manuel utilisateur

Universal Robots

Universal Robots E Series Manuel utilisateur

Universal Robots

Universal Robots UR5/CB3 Manuel utilisateur

Universal Robots

Universal Robots UR10 Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots Log Viewer e Series Manuel utilisateur

Universal Robots

Universal Robots UR30 Manuel utilisateur

Universal Robots

Universal Robots UR5e Manuel utilisateur

Universal Robots

Universal Robots UR-6-85-5-A Manuel utilisateur

Manuels Robotique populaires d'autres marques

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 Manuel utilisateur

SunFounder

SunFounder PiDog Manuel utilisateur

YASKAWA

YASKAWA MOTOMAN-MPL80 II Manuel utilisateur

EFORT

EFORT ECR5 Manuel d'instructions

Epson

Epson C8 Series Manuel utilisateur

WowWee

WowWee ROBOQUAD Manuel utilisateur

Milvus Robotics

Milvus Robotics SEIT 100 Manuel utilisateur

RoboMaster

RoboMaster AI Robot 2020 Standard Version Manuel utilisateur

fischertechnik

fischertechnik Mini Bots Manuel utilisateur

YASKAWA

YASKAWA MA2010 Manuel

Abicor Binzel

Abicor Binzel iCAT mini Manuel utilisateur

ABB

ABB OmniCore E10 Manuel utilisateur

YASKAWA

YASKAWA Motoman DX200 Manuel utilisateur

pitsco

pitsco Tetrix Max Manuel utilisateur

ECOVACS

ECOVACS DEEBOT R95 Manuel utilisateur

Feng Yuan

Feng Yuan Interstellar Warrior Manuel utilisateur

SCHUNK

SCHUNK AGE-S-XYZ Instructions d'utilisation

Moorebot

Moorebot Scout Manuel utilisateur