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UR-6-85-5-A User Manual

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1. In almost every robot application it is required to connect one or more exter nal emergency stop buttons Doing so is simple and easy An example of how to connect one extra button is shown above Remember that only approved emergency stop buttons with double switches are good enough It is also possi ble to connect light curtains and door switches etc as long as the equipment is approved for emergency stop with the right safety level 2 2 3 Using an External Emergency Stop Power Supply E24 EG ERI ERI WOWO ERO ERO If the robot is part of a bigger system it is sometimes preferred or required to use an external source of 24V for the emergency stop circuitry How to connect an external source is shown above 2 2 4 Connecting to Other Machinery When the robot is used together with other electro mechanical machinery it is offen required to set up q common emergency circuit This ensures that if a dangerous situation arises the operator does not need to think about which buttons to use It is also often preferable for every part of a sub function in a product line to be synchronized since a stop in only one part of the product line can lead to a dangerous situation A UR robot uses simple 24V signals for emergency signaling as does most industrial machinery It is therefore
2. x 394 45 mm y 360 16 mm g z 126 36 mm Move Joints B Base 4 147 813 Shoulder r gt 109 401 k Elbow lt a 115 385 q r Wrist 1 37 283 I Wrist 2 e s a e Wrist 3 4 E 10 249 Q Simulation Speed Cl 0 Real Robot P PTE Robot The current position of the robot is shown Push the magnifying glass icons to zoom in out and the arrow icons to translate or rotate the view The viewing angle of the 3D drawing should match your view of the real robot Move Tool e Holding down d translate arrow top will move the tool tip of the robot in the direction indicated e Holding down q rotate arrow button will change the orientation of the robot tool in the indicated direction The point of rotation is the TCP drawn as a small green ball Note Release the button to stop the motion at any time Move Joints Allows the individual joints to be controlled directly Each joint can move from 360 to 360 which are the joint limits illustrated by the horizontal bar for each joint If a joint reaches its joint limit it cannot be driven any further away from 0 Backdrive While the Backdrive button is held down it is possible to physically grab the robot and pull it to where you want it to be If the gravity setting see 3 3 4 in the Setup tab is w
3. Parameter Min Typ Max Unit Common mode input voltage 90 90 V Differential mode input voltage 120 120 V Differential input resistance 220 kohm Common mode input resistance 55 kohm Common mode rejection ratio 75 dB Offset error Range 0 5 TBD TBD mV Offset error Range 0 10 TBD TBD mV Offset error Range 5 5 TBD TBD mV Offset error Range 10 10 TBD TBD mV Total error Range 0 5 TBD TBD mV Total error Range 0 10 TBD TBD mV Total error Range 5 5 TBD TBD mV Total error Range 10 10 TBD TBD mV Table 2 8 Data specification of analog inputs TBD To Be Determined 2 4 4 Analog Inputs The analog inputs can be set to four different voltage ranges which are im plemented in different ways and therefore can have different offset and gain errors The technical data defining limitations on the analog inputs are shown in table 2 8 The specified differential mode input voltage is only valid with a common mode voltage of OV To make it clear how easy it is to use analog outputs some simple examples are shown Using Analog Inputs Differential Voltage Input AV PAN 24V 24V Al Al SENSOR GND GND GND GND The simplest way to use analog inputs The equipment shown which could be a sen
4. 4 2 3 Description and Identification of Product The robot is intended for simple and safe handling tasks such as pick and place machine loading unloading assembly and palletizing Generic denomination UR 6 85 5 A Function General purpose industrial robot Model UR 6 85 5 A Serial number of robot arm Serial number of control box Commercial name UR 6 85 5 A 4 2 4 Essential Requirements The individual robot installations have different safety requirements and the in tegrator is therefore responsible for all hazards which are not covered by the general design of the robot However the general design of the robot includ ing its interfaces meets all essential requirements listed in annex of 2006 42 EC The technical documentation of the robot is in accordance with annex VII part B of 2006 42 EC 74 UR 6 85 5 A 4 2 Declaration of Incorporation UNIVERSAL ROBOTS Applied directives 2006 42 EC Machinery Directive 2004 108 EC EMC Directive 2002 95 EC ROHS Directive 2002 96 EC WEEE Directive Applied harmonized standards IEC 61000 6 2 ED 2 0 2005 Under applied directives IEC 61000 6 4 ED 2 0 2006 EN 61000 6 2 2005 EN 61000 6 4 2007 EN ISO 13849 1 2008 EN ISO 10218 1 2008 Partly EN ISO 13850 2008 EN ISO 14121 1 2007 Applied general standards EN ISO 9409 1 2004 Partly Not all standards are listed EN ISO 9283 1999 Partly EN ISO 9787 2000 Partly EN ISO 9946 2000 Partly
5. A Sub Program can hold program parts that are needed several places A Sub Program can be a seperate file on the disk and can also be hidden to protect against accidental changes to the SubProgram Program Command Tab Call SubProgram File Program Setup Move 1 0 Log Y Robot Program a 9 V Mowj Waypoint_1 Wait var_1 p 0 4 0 4 0 0 test __ Command Graphics I Structure Wavpoim 2 Call Subroutine Choose which subroutine to call at this point 9 V Loop 5 times P Call SubProg_O Popup at the program execution SubProg_0 ad Action This is just text 9 V Move to door 9 V Move Waypoint_O WV if2 2 5 Halt 9 V Else H lt empt 9 V Move Waypoint_3 Waypoint 9 Pallet 9 amp PatternSequence Waypoint_6 9 PatternPoint_O Waypoint_6 9 amp Pattern Box 1st_Corner_O _ L 2 mer o 4 il gt Q Simulation hed P Real Robot gt a Speed 1 0 A call to a sub program will run the program lines in the sub program and then return to the following line 3 4 16 Program Command Tab Assignment Previous Next gt File Program Setup Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program ras 9 V Move Waypoint_2 o Waypoin
6. I You need a Pause connector w L Locate the Pause placeholder plug ee Plug in the Pause connector When the pause connait is in place a pause device can be wired as shown below Amoa TRE SS 21 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O 2 4 Controller I O UNIVE RSAL een EE i alas tal Outputs Digital Inputs I DSE 6 OOO seesose Inside the controller box there is a panel of screw terminals with various O parts as shown above The leftmost part of this panel is used for the emergency stop functionality as shown below Analog Analog i I Digital Digital Power Digital Outputs Digital Inputs Inputs Outputs Note that any change in the emergency stop circuitry can lead to a dangerous robot condition even though the robot emergency stop functionality seems to be present Never combine the emergency stop circuit with the normal I O The abbreviations of the I O panel are explained in table 24V 24V power supply GND OV GND connection DOx Digital output number x DIx Digital input number x AOx Analog output number x plus AG Analog output GND Ax Analog input
7. 3 4 3 Program Command Tab lt Empty gt File Program Setup Move I O Log fal lt unnamed gt Command Graphics Structure Y Robot Program aj Y Move Waypoint_2 i Waypoint 1 Insert program lines here D In the Structure tab you will find varaious mAction program statements that can be inserted Action This is just text Y folder laSizustursai 9 V Move Waypoint Vif2 2 Halt Waypoint_3 Event digital_in 9 Fals Popup Halt v 4 i QO Simulation Q Real Robot lt gt Pl BE Speed 1 0 Previous Next gt Program commands need to be inserted here Press the Structure button to go to the structure tab where the various selectable program lines can be found A program cannot run before alll lines are specified and defined 48 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Cruise Deceleration Speed Acceleration Time Figure 3 1 Speed profile for a motion The curve is divided into three segments acceleration cruise and deceleration The level of the cruise phase is given by the speed setting of the motion while the steepness of the acceleration and deceleration phases is given by the acceleration parameter 3 4 4 Program Command Tab Move Fil
8. screen When the system is ready q popup will be shown on the touch screen stating that the emergency stop button is pressed Touch the To Initialization Screen button at the popup Unlock the emergency stop buttons The robot state then changes from Emergency Stopped to Robot Power Off Touch the On button on the touch screen The robot now makes a noise and moves a little while unlocking the breaks Touch the blue arrows and move the joints around until every light at the right side of the screen turns green Be careful not to drive the robot into itself or anything else All joints are now oK Touch the exit button bringing you the Welcome screen Touch the PROGRAM Robot button and select Empty Program Touch the Next button bottom right so that the lt empty gt line is selected in the tree structure on the left side of the screen Go to the Structure tab Touch the Move button Go to the Command tab Press the Next button to go to the Waypoint settings Press the Set this waypoint button next to the picture On the Move screen move the robot by pressing the various blue arrows or move the robot by holding the Back drive button while pulling the robot arm Press OK Press Add waypoint before Press the Set this waypoint button next to the picture On the Move screen move the robot by pressing the various blue arrows or move the robot by holding th
9. 31 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Using Analog Inputs Differential POWER GRAY SENSOR Using sensors with differential outputs is also straightforward Simply connect the negative output part to GND OV with a terminal strip and it will work in the same way as q non differential sensor 32 UR 6 85 5 A Chapter 3 PolyScope Software UNIVERSAL ROBOTS 3 1 Introduction 3 1 Introduction PolyScope is the graphical user interface GUI which lets you operate the robot run existing robot programs or easily create new ones PolyScope runs on the touch sensitive screen attached to the control box To calibrate the touch screen read section 8 5 5 PolyScope Robot User Interface Please select RUN Program TERSAL KUBOTS The picture above shows the Welcome Screen with a popup saying that the robot is emergency stopped The bluish areas of the screen are buttons that can be pressed by pressing a finger or the backside of a pen PolyScope has a hierarchical structure of screens In the programming environment the screens are arranged in tabs for easy access on the screens IR File Program Move I O Setup Log test Command Graphics Structure Y Robot Program g V Move Dranram Ctriuctiira Editar In this example the Program tab is selected at the top level and under that the Structure tab is selected The Program tab holds information related t
10. File Program Setup Move 1 0 Log g lt unnamed gt Command Graphics Structure Y Robot Program aj lt empty gt Program Structure Editor Insert Basic Advanced Wizards Move Waypoint Wait 1 0 Action Insert After selected Popup Halt Comment Folder Edit Move Copy Paste After M selected Move Cut Delete Suppress lt D Q Simulation PTI A Speed 0 Real Robot kd gt gt P H sp 1 0 Previous Next gt The program structure tab gives an opportunity for inserting moving copy ing and removing the various types of commandas To insert new commands perform the following steps 1 Select an existing program command 2 Select whether the new command should be inserted above or below the selected command 3 Press the button for the command type you wish to insert For adjusting the details for the new command go to the Commana tab Commands can be moved cloned deleted using the buttons in the edit frame If a command has sub commands a triangle next to the command all suo commands are also moved cloned deleted Not all commands fit at all places in a program Waypoints must be under a Move command not necessarily directly under ElseIf and Else commands are required to be after an If In general moving ElseIf Commands around can be messy Variables must be assigned values before being used 68 UR 6 85 5 A 3 5 Setup UNIVERSAL ROBOTS
11. Next gt Waits for a given amount of time or for an I O signal 3 4 9 Program Command Tab Action File Program Setup Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move gt Waypoint_2 Action Waypoint_1 wait Select the action you wish the robot to perform at this point in the program var_1 p 0 4 0 4 0 q You can also specify changes in the robots payload Popup N V Loop 5 times G No Action P Call SubProg_0 mA PER T REA ka a Set Digital Output digital_out 0 Off Open M This is just text 9 V Move to door O Set Analog Output analog_out 0 4 0 mA 55 V Move e Waypoint 0 m a V f 2 2 5 C Set the total payload to 0 0 kg Halt 9 V Else lt empty 9 V Move Perform action now Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P subProg_o 9 V Move Waypoint_4 Waypoint_S 2 V Folder 4 lI I D gt Le Nek paa P P E Speed 1 0 Previous Next gt Sets either digital or analog outputs to a given value Can also be used to set the payload of the robot for example the weight that is picked up os a consequence of this action Adjusting the weight can be necces
12. 3 5 Setup 3 5 1 Setup Screen Setup robot Please select INITIALIZE robot REQUEST support UPDATE robot Set PASSWORD CALIBRATE screen PolyScope 1 0 4010 Sep 05 2008 15 07 05 Setup NETWORK e Initialize Robot Goes to the initialization screen see section Request Support Opens a port in the robot that permits external access over the Internet Update Upgrades the robot software to a newer version via the Internet see section e Set Password Provides the facility to lock the programming part of the robot to people without a password see section 3 5 4 Calibrate Screen Calibrates the touch of the touch screen see sec tion e Setup Network Opens the interface for setting up the Ethernet network for the robot see section e Back Returns to the Welcome Screen 69 UR 6 85 5 A UNIVERSAL ROBOTS 3 5 Setup 3 5 2 Setup Screen Initialize Initialize Robot e Push Auto until all lights turn green Rotate joints individually if necessary Robot Auto INITIALIZING Base Joint lt EP Auto INITIALIZATION o Shoulder joint lt m gt Auto INITIALIZATION Elbow Joint lt a E gt Auto INITIALIZATION o Wrist 1 Joint lt E gt Auto INITIALIZATION Wrist2 Joint lt a gt Auto INITIALIZATION Wrist 3 Joint l
13. EN ISO 8373 1996 Partly EN 60947 5 5 A 1 2005 IEC 60947 5 5 1997 A1 2005 ISO TR 14121 2 2007 EN 60529 A 1 2002 EN ISO 1101 2006 EN 20286 1 1993 EN 20286 2 1993 Note that the low voltage directive is not listed The machinery directive 2006 42 EC and the low voltage directives are primary directives A product can only be covered by one primary directive and because the main hazards of the robot are due to mechanical movement and not electrical shock it is covered by The machinery directive However the robot design meets all rele vant requirements to electrical construction described in the low voltage direc tive 2006 95 EC Also note that the WEEE directive 2002 96 EC is listed because of the crossed out wheeled bin symbol on the robot and the control box Universal Robots reg isters all robot sales within Denmark to the national WEEE register of Denmark Every distributor outside Denmark and within the EU must make their own regis tration to the WEEE register of the country in which their company is placed 4 2 5 National Authority Contact Information Authorised person Lasse Kieffer 45 8993 8971 kieffer universal robots com CTO Esben H stergaard 45 8993 8974 esben universal robots com CEO Enrico Krog Iversen 45 8993 8973 eki universal robots com 75 UR 6 85 5 A UNIVERSAL ROBOTS 4 2 Declaration of Incorporation 4 2 6 Important Notice The robot may not be p
14. empt V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P subProg_o 9 V Move Waypoint_4 e Waypoint_5 2 Y Folder 4 III I D lt Lihat paa gt gt E Speed 1 0 Previous Next gt Gives the programmer an option to add a line of text to the program This line of text does not do anything during program execution 3 4 13 Program Command Tab Folder File e Program Setup Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move Waypoint_2 Folder Way a Sbi n A folder is simply a collection of program lines Popup 9 V Loop 5 times P Call SubProg_O Action Please enter text to be displayed in the program tree This is just text V Move to door Move to door WV Move Waypoint_0 W If 2 2 5 Halt V Else lt empt 9 V Move Waypoint_3 9 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 9 V Move Waypoint_4 Waypoint_S Cl Hide Folder Program Tree 9 W Folder lt empt ba 4 ll gt Q Simulation z Mid Speed Q Real Robot gt PI E Sp 1 0 Previous Next gt A folder is used to organize and label specific parts of q program
15. i healt 1 ak ne p p S ii ee aE Gh A ne ee ea ae tee foe pha Lk Se ku u pe khu i Serves Negra eres h a phat ye cuenta iy hres Jeera jy tes ly Ree s ret eee Kata p SWI SWO SWO ERO ERO GND GND GND GND DOO DO1 DO2 DO3 DO4 DO5 DO6 DO7 DIO DI1 DI2 DI3 DI4 DIS DIG DIT AO A0 AG AOO WS da s a a Wu SS ae SS See fs SS So SB pe a a A is al al Forat 1 I PA Neel E tee caw Pere ah 4 al oe ht et P T Ebs 4 4 phe Pa oe L i i ek i pre f i i ph gt eh et I a l i k k i L L pei i paS L I L L pes pren i i i i kE Tipe eset The abbreviations are explained in table 2 1 Note that connecting and configuring the emergency interface relies on the complete understanding of the emergency circuitry and the owner of the ma chinery takes full responsibility for connecting it correctly and to the right safety level Note the number of safety components that should be used and how they must work rely on the risk assessment which is explained in section A 1 Note that it is important to make regular checks of the emergency stop func tionality to ensure that all emergency stop devices are functioning correctly The emergency stop interface is different from the normal I O because it has to comply with a certain safety level EN 954 Category 3 To understand the emergency stop functionality a simplified version of the internal schematics of the robot emergency stop circuitry is shown in figure 2 1 I
16. to clean up the program tree and to make the program easier to read and navigate A folder does not in itself do anything 55 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 14 Program Command Tab Loop File Program Setup Move O Log g lt unnamed gt Command Graphics Structure Robot Program a 9 V Move Waypoint_2 Waypoint 1 Loop Wait r_1 p 0 4 0 4 i i i al PL0 4 0 4 0 Please select how many times the program in this loop should v Loop 5 times be executed P Call SubProg_0 x Action Loop always This is just text M areal Loop 5 times using variable loop_1 Move Waypoint_0 W if2 2 5 Loop as long as the following expression is true Halt V Else Edit Expression lt empt 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 9 V Move 9 Waypoint_4 Waypoint_5 9 V Folder x 4 Il D Q Simulation 9 Q Real Robot 4 gt p p gt L Speed 11 0 Previous Next gt Loops the underlying program commands Depending on the selection the underlying program commands are either looped infinitely a certain number of times or as long as the given condition is true When looping a certain number of times a dedicated loop variable called loop_1 in the screen s
17. 1 The initialization screen automatically turned off when the controller box is shutting down A third way is of course to push an emergency stop button 1 2 5 Shutting Down the Controller Box The proper way of shutting down the controller box is to use the on screen menu system Go to the File menu at the top left corner and choose Exit Then you see the Welcome screen which has a Shut Down button Shutting down by pulling the wall socket may cause corruption of the robot s file system which may result in q robot malfunction However if the system locks up you can force a shutdown by pushing and holding the On button at the front side of the controller box for five seconds 13 Quick start Step by Step To quickly set up the robot perform the following steps 1 Unpack the robot and the controller box 2 Mount the robot on a sturdy surface 3 Place the controller box on its foot 4 Plug the robot cable into the connector at the bottom of the controller box on Plug in the mains connector of the controller box 6 Press the Emergency Stop button on the front side of the controller box 7 Press the power button next to the Emergency Stop button at the controller box 10 UR 6 85 5 A Quick start Step by Step UNIVERSAL ROBOTS 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 Wait a minute while the system is starting up displaying text on the touch
18. 85 5 A A 1 CE certification of the Robot Installation UNIVERSAL ROBOTS Seriousness Class 4 Death loss of eye or arm 3 Permanent loss of finger 2 Reversible Hospital 1 Reversible First Aid Table A 2 Risk Assessment for an accident Avoidance av When an accident is about to happen how likely is it that it can be avoided for instance by jumping To the side or by pressing emergency stop A 1 3 Risk Assessment Estimate how serious the accident can be and use this estimate in combination with the sum of values for frequency probability and avoidance in table A 1p to assess the risk class using table A 2 If the class is EFG or H the safety around the robot installation should be improved If the class is D an effort should be made to improve the safety If the class is A B or C ordinary care should be exercised around the robot A 1 4 Example Consider a robot installation where a robot uses a suction disc To lift items from a machine to a box The robot is not shielded and programmed so it moves at less than 250mm sec People often walk by the robot in a passage outside the robot s trajectory but within reach of the robot There are two potential accidents in this installation 1 An error in the robot s program can cause it to reach out into the passage 2 A person moves close to the robot for example to service the machine without first stopping the robot A risk ass
19. 9 V Move a Waypoint_o Pattern Box X Change type Waypoint_1 e Waypoint_2 The positions will be traversed using the counter variable cnt_2 9 c Pattern Box 1ist_Corner_O n ukuka 2nd_Corner 0 Point 1 to 2 interval count 10 2i 9 3rd_Corner_0 4th_Corner_0 Point 2 to 3 interval count 10 9 Waypoint 9 eo Pallet F z pem amp Pattern Point 3 to 4 interval count 3 se Q oe PalletSequence 9 Waypoint 9 PatternPoint_O Action Wait Waypoint Shared Parameters Tool Speed 250 0 mm s gt Tool Acceleration 1200 0 mm s 55 Reset to defaults K Di Q Simulation Ci r A 4 gt E speed Q1006 Previous Next gt A Box pattern uses three vectors to define the side of the box These three vectors are given as four points where the first vector goes from point one to point two the second vector goes from point two to point three and the third vector goes from point three to point four Each vector is divided by the interval count numbers A specific position in the pattern is calculated by simply adding the interval vectors proportionally 61 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming File Program Installation Move I O Log lt unnamed gt Command Graphics Structure V Robot Program a V MoveL Waypoint 0 4th_Corner_0 Rename Waypoint_3 z Waypoint_1 9 Waypo
20. Anchorable Sequence In an Pallet Sequence line the motions of the robot are relative to the pallet position The behavior of a sequence is such that the robot will be at the po sition specified by the pattern at the Anchor Position Pattern Point The remaining positions will all be moved to make this fit Do not use the Move command inside a sequence as it will not be relative to the anchor position BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional AfterEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next pallet 3 4 23 Program Command Tab Stack A stack is similar to a pallet with a Line pattern However stacking uses a sensor to determine when the correct position is reached to grab or drop an item The sensor can be a push button switch a pressure sensor or q capacitive sensor Stacking Destacking U f s i I r an i Y i When programming a stacking operation one must define s the starting point d the stack direction and i the thickness of the items in the stack On top of this one must define the condition for when the next stack position is reached and a special program sequence that will be performed at each of the stack positions Also soeed and accelerations nee
21. Command Graphics Structure Waypoint_2 a e Waypoint_1 ial Wait Zar pt0 4 0 4 0 Script Code Tees times Below you can enter text that will be executed as script code P Call SubProg_o by the URController Action This is just text 9 V Move to door WV Move Waypoint_0 9 VW f 2 2 5 Script Code Halt V Else lt empt set_gravity 0 0 0 0 9 82 WV Move Waypoint_3 Waypoint Edit as Text Event digital_in 9 Fals Popup Halt P SubProg_o 9 V Move Waypoint_4 e Waypoint_5 9 W Folder lt empt Script set_ ravity 0 0 4 il D gt Cay anh hed gt E EB Speed Ch 0 Previous Next gt Il mi Edit as Expression B This command gives access to the underlying real time script language that is executed by the robot controller It is intended for advanced users only 3 4 19 Program Command Tab Event File Program Setup Move I O Log lt unnamed gt Command Graphics Structure Robot Program a 9 V Move Waypoint_2 Waypoint_1 Event Bina p 0 4 0 4 0 d An Event is simmilar to an Interrupt however in an event the Popup execution of the main program continues while the event code V Loop 5 times is being executed While the event is being P Call SubProg_0 executed new events will have no
22. New Program File e Program Setup Move I O Log New Program Load From File Load Program Use Template Pick and Place Empty Program A new robot program can start from either a template or from an existing saved robot program A template can provide the overall program structure so only the details of the program need to be filled in 3 4 2 Program Tab File Program Setup Move I O Log g lt unnamed gt Command Graphics Structure V Robot Program aj 9 V Move Waypoint_2 Prog ram Waypoint_1 Wait ae e The window on the left shows the program tree This is just text e Use the Next and Previous buttons to navigate through 9 V Folder the program tree 9 V Move e Use the Structure tab to modify the program tree Waypoint_0 W If 2 2 5 Halt 9 V Move Waypoint_3 Event digital_in 9 Fals Popup Halt V Program Loops Until Stopped 4 il TDL Boulter mid gt M E Speed J1 0 Previous Next gt L j The program tab shows the current program being edited The program tree on the left side of the screen displays the program as a list of commands while the area on the right side of the screen displays infor mation relating to the current command The current command is selected by clicking the commond
23. Robots has put much effort into making the robot as safe as possible In Europe the standard ISO 10218 1 2006 describes the requirements for a robot to operate without safety shielding Most relevant here is 5 10 4 which states that the robot s tool should move at less than 250 mm sec that is 1 meter in 4 seconds In addition the max imum force exerted by the robot should be 150N and the mechanical power should be less than 80W The robot software has been written such that if the robot program moves the tool at less than 250mm s then these requirements are fulfilled allowing the robot to drive without safety shielding However it is always important to be careful when around the robot A 1 2 Scoring the Risk For each potential accident in a given robot installation the risk index of the ac cident has to be evaluated To help evaluate this this manual provides a safety evaluation form below The form is based on the EN 14121 1 and 2 standards In a given robot installation the risk assessment must be evaluated for each of the potential accidents The risk assessment requires the evaluation of the Frequency Probability and Avoidance for each of the potential accidents Frequency fr How often will there be a potential accident For example how often is a person within reach of the robot Probability pr How probable is it that the presence of a human will result in a dangerous situa tion See section 4 2 78 UR 6
24. a Cah Sot we Rs 70 3 5 4 Setup Screen Password 0 ee ee eee 71 PER Se hee ae 71 3 5 6 Setup Screen Network 72 4 UR 6 85 5 A Contents UNIVERSAL ROBOTS 4 Warranties and Declarations 73 4 Warranty 0 a a a a 73 4 1 1 Product Warranty a 73 A T2 Diselogirmer ca aog aea sok ee a atis aa a e OR Ee 73 DRON a ar aS Da ew oe Ms kS SE a 74 4 2 Product manufacturer a r 74 4 2 2 Person Authorised to Compile the Technical Documentation 74 4 2 3 Description and Identification of Product 74 4 2 4 Essential Requirements ooa aa aaa aa 74 a 75 4 2 6 Important Notice 2 a a 76 ibe boku iok Romaka 76 4 2 8 Identity and Signature of the Empowered Person 76 A Safety Assessment 77 A l CE certification of the Robot Installation oo 78 A 1 1 Safety Requirements aoaaa a a a a a aa 78 TOONE E tates 78 So BH hy Al de 8 98 Se aL bE Rody ot e e gea 79 wre a 2 E Ds Rasa ap eee leer 79 5 UR 6 85 5 A UNIVERSAL ROBOTS Contents 6 UR 6 85 5 A Chapter 1 Getting started 1 1 Introduction Congratulations on the purchase of your new Universal Robot UR 6 85 5 A The robot is a machine that can be programmed to move a tool and com municate with other machines using electrical signals Using our patented pro gramming interface PolyScope it is easy to program the robot to move the tool
25. along a desired trajectory PolyScope is described in section 3 The reader of this manual is expected to be technically minded to be fa miliar with the basic general concepts of programming be able to connect a wire to a screw terminal and be able to drill holes in a metal plate No special knowledge about robots in general or Universal Robots in particular is required The rest of this chapter is an appetizer for getting started with the robot 7 UNIVERSAL ROBOTS 1 1 Introduction Ge 1 1 1 The Robot The robot itself is an arm composed of extruded aluminum tubes and joints The joints are named A Base B Shoulder C Elbow and D E F Wrist 1 2 3 The Base is where the robot is mounted and at the other end Wrist 3 the tool of the robot is attached By coordinating the motion of each of the joints the robot can move its tool around freely with the exception of the area directly above and directly below the robot and of course limited by the reach of the robot 850mm from the center of the base 1 1 2 Programs A program is a list of commands telling the robot what to do The user inter face PolyScope described later in this manual allows people with only little programming experience to program the robot For most tasks programming is done entirely using the touch panel without typing in any cryptic commands Since tool motion is such an important part of a robot program a way of teaching the robot how to move i
26. effect Action Se ab Depending on the state of the given sensor input or program variable V Move the following lines will be executed Waypoint_O P W r 2 2 5 digital_in 9 False Halt V Else Edit Condition empt 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P subProg_o 9 V Move Waypoint_4 Waypoint_5 9 V Folder hasl 4 lI D gt Banani gt L E Speed 1 0 Previous Next gt An event can be used to monitor an input signal and perform some action or set a variable when that input signal goes high For example in the event that an output signal goes high the event program can wait for 100ms and then set it back to low again This can make the main program code q lot simpler in the case on an external machine triggering on a rising flank rather than a high input level 59 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 20 Program Command Tab Thread File e Program Setup Move 1 0 Log test Command Graphics Structure 9 V Loop 5 times a P CallSubProg_o Action Thread This is just text V Move to door A thread is a parallel program that runs along with the main 9 V Move program A thread can perform I O wait for signals and set Waypoint_O gt va
27. exists Universal Robots reserves the right to charge the customer for replacement or repair The above provisions do not imply a change in the burden of proof to the detriment of the Customer In case of a device exhibiting defects Universal Robots shall not cover any consequential damage or loss such as loss of production or damage to other production equipment 4 1 2 Disclaimer Universal Robots continues to improve reliability and performance of its prod ucts and therefore reserves the right to upgrade the product without prior warn ing Universal Robots expects the contents of this manual to be precise and correct but takes no responsibility for any errors or missing information 73 UNIVERSAL ROBOTS 4 2 Declorqtion of Incorporqtion 4 2 Declaration of Incorporation According to the machinery directive 2006 42 EC the robot is considered a partly completed machine The following subsections corresponds to and are in accordance with annex II of this directive 4 2 1 Product manufacturer Name Universal Robots ApS Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8989 E mail address sales universal robots com International VAT number DK29138060 4 2 2 Person Authorised to Compile the Technical Documentation Name Lasse Kieffer Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8971 E mail address kieffer universal robots com
28. list or by using the Previous and Next buttons on the 47 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming bottom right of the screen Commands can be inserted or removed using the Structure tab described in section 3 4 25 The program name is shown directly above the command list with a small disk icon that can be clicked to quickly save the program The lowest part of the screen is the Dashboard The Dashboard features a set of buttons similar to an old fashioned tape recorder from which programs can be started and stopped single stepped and restarted The speed slider allow you to adjust the program speed at any time which directly affects the speed at which the robot moves To the left of the Dashboard the Simulation and Real Robot buttons toggle between running the program in a simulation or running it on the real robot When running in simulation the robot does not move and thus cannot damage itself or any nearby equipment in collisions Use simulation to test programs if unsure about what the robot will do While the program is being written the resulting motion of the robot is illus trated using a 3D drawing on the Graphics tab described in section 3 4 24 Next to each program command is a small icon which is either red yellow or green A red icon means that there is an error in that command yellow means that the command is not finished and green means that all is OK A program can only be run when all commands are green
29. number x plus Ax Analog input number x minus Table 2 3 Abbreviations for the I O interface inside the controller box To get a good understanding of the I O interface a simplified version of the internal circuitry is shown below 22 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Voltage available at connection 24V TBD 24 TBD V Current available at connection 24V 800 mA Short circuit current protection 850 mA Capacitive load at connection 24V TBD uF Inductive load at connection 24V TBD uH Table 2 4 Normal I O interface data TBD To Be Determined A JU AAO Robot power ON OFF control The left part shows the general purpose 24V power supply which the user can use for basic controlling and powering Note that the 24V is only turned on when the robot is turned on This also means that if an operator pushes the emergency stop button then the power disappears Just remember that the 24V may not source or control any functions which can lead to dangerous situations according to the risk assessment The general data on the 24V power supply is shown in Toble 2 4 Note that connection E24 is sourced by the same internal 24V regulator as the normal I O and that the maximum of 800mA is for both power sources together The internal control syste
30. positions List a a au _ Q Simulation 5 QReal Robot rea gt P E Speed 100 Previous Next gt The Pattern command can be used to cycle through positions in the robots program The pattern command corresponds to one position at each execu tion A pattern can be given as one of four types The first three Line Square or Box can be used for positions in a regular pattern The regular patterns are 60 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS defined by a number of characteristic points where the points define the edges of the pattern For Line this is the two end points for Square this is three of the four corner points where as for Box this is four of the eight corner points The programmer enters the number of positions along each of the edges of the pattern The robot controller then calculates the individual pattern positions by proportionally adding the edge vectors together If the positions to be traversed do not fall in a regular pattern the List option can be chosen where a list of all the positions is provided by the programmer This way any kind of arrangement of the positions can be realized Defining the Pattern When the Box pattern is selected the screen changes to what is shown below File Program Installation Move 1 0 Log g lt unnamed gt Command Graphics Structure Robot Program Jaj
31. possible to connect the controller box to most industrial machinery without using any special and expensive equipment such as safety approved relays and PLCs The principle is to choose a common 24V voltage source and connect all emergency stop button in series and then all the relays of the machinery An example with two UR robots is shown below Robot 1 Robot 2 lt gt E24 EG ERI RI i E24 EG ERI ERI SWI fswi SWO SWO ERO ERO j SWI SWI Ewo Wo EROERO Remember to check that all emergency stop buttons are rated for the total current consumption of all the connected emergency stop relays 20 UR 6 85 5 A 2 3 The Pause Interface UNIVERSAL ROBOTS 2 3 The Pause Interface Note The pause interface can at most be used as a category 1 safeguard interface depending on the external wiring Using the pause interface the robot program can pause due to an external event The external event can be caused by a light braker circuit a pressure sensitive floor mat or a similar device that can give a signal when a person is near the robot When paused the program can be resumed without loss of program state To resume the program click Continue on the Popup on the screen 2 3 1 Connecting to the Pause Interface Install the pause interface as shown
32. robots are communicating with each other is illustrated below Robot 1 Robot 2 lt gt 24y 24v 24v 24v 24v 24v 24v 24V 24v av 24v 24V 24V GND DO0 Do1 po2 i GND GND GND GND Dio DIL DI2 ki GND GND GND The UR robot on the left side is communicating with The robot on the right side A typical value for the resistor shown is 10kohm The three terminal box is just a terminal strip 25 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O Parameter Min Typ Max Unit Valid output voltage in current mode 0 10 V Valid output current in voltage mode 20 20 mA Short circuit current in voltage mode 40 mA Output resistance in voltage mode 43 TBD ohm Offset error 4mA load 5000hm TBD mA Total error 20mMA load 5000hm TBD mA Offset error OV load IMohm 0 5 TBD mV Total error 5V load 1Mohm 50 TBD mV Table 2 7 Data specification of analog outputs TBD To Be Determined Note that if the robot on the left side of the illustration is turned off the input signal of the right robot will be high and this can lead to unexpected behavior Combining the emergency stop circuitry between the r
33. 0 Volts Robot Voltage 0 0V Shoulder POWER OFF H 0 0 Volts Avg Robot Power 000 W Elbow POWER OFF H 0 0 Volts Robot Current 0 0A Wrist 1 POWER OFF 0 0 Volts IO Current 000mA wrist 2 POWER OFF 0 0 Volts Tool Current 000mA wrist 3 POWER OFF 0 0 Volts T 0055d01h03m41 792s UU33UUUN2OI43 3445 niraknitine r uu T 0055d00h58m45 960s RTMachine Program T 0055d00h58m46 064s RTMachine Program T 0055d00h58m49 144s RTMachine Program T 0055d00h58m54 120s RTMachine Program T 0055d00h58m58 000s RTMachine Program T 0055d00h58m58 840s RTMachine Program T 0055d00h58m59 408s RTMachine Program T 0055d00h58m59 776s RTMachine Program T 0055d00h59m54 240s RTMachine Program T 0055d00h59m54 992s RTMachine Program T 0055d01h00m05 168s RTMachine Program T 0055d01h00m06 320s RTMachine Program T 0055d01h03m17 096s RTMachine Program T 0055d01h03m19 832s RTMachine Program Session 0000d00h10m32 168s an gt et ial Vy VUL sua Leu set_analog_out started set_analog_out started set_digital_out started set_analog_inputrange started set_digital_out started set_digital_out started set_digital_out started set_digital_out started sim_automatic_move started automatic_move started stopj started sim_automatic_move started automatic_move started stopj started en I Clear Robot Health The top half of the screen displays the health of the robot The left part shows information relate
34. 50 0 mm s H 1200 0 mm s Sequence AfterEnd Reset to defaults Q Simulation Q Real Robot P bi EB Speed 1006 Previous Next gt When destacking the robot moves from the starting position in the given direc tion to search for the next item When found the robot remembers the position 64 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction Starting position The starting position is where the stack operation starts If the starting position is omitted the stack starts at the robots current position Direction File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Q WV AfterEnd Ja Bottom reache V Move o Waypoint Direction 9 Waypoint Waypoint A direction is given by the line between the TCP Waypoint position of two waypoints 9 oe Pallet RI 9 Pattern Square 1st_Corner_0 Stop after 163 5 mm 9 2nd_Corner_O 3rd_Corner_O LI Stop when Edit Expression etSequence 9 Waypoint 9 PatternPoint_O Action Wait Waypoint oe Stack StartPos_1 9 Direction Shared Parameters FromPos_1 ToPos_1
35. OILISOd 9 Figure 1 4 The tool output flange EN ISO 9409 1 A50 This is where the tool is mounted at the tip of the robot All measures are in mm UR 6 85 5 A 14 1 4 Mounting Instructions UNIVERSAL ROBOTS Input 100 120VAC Min 16A current rating Input 200 240VAC Min 8A current rating Frequency 50 60Hz Stand by Power SW Typical On Power 200W Table 1 1 Specifications for mains connection 1 4 4 Mounting the Controller Box The controller box can be mounted using the two holes on the back of the controller box or it can be placed on the ground 1 4 5 Mounting the Touch Panel The touch sensitive screen can be hung on a wall or on the controller box Extra fittings can be bought 1 4 6 Connecting the Robot Cable The cable from the robot must be plugged in to the connector at the button of the controller box Ensure that the connector is properly locked Connecting and disconnecting the robot cable may only be done when the robot power is turned off which is easily ensured by pushing the emergency stop button on the front side of the controller box 1 4 7 Connecting the Mains Cable The mains cable from the controller box has a standard IEC plug in the end Connect a country specific mains plug or cable to the IEC plug Remember to use a cable with specifications as shown with the mains specifications in ta ble 1 1 The controller box should be connected to ear
36. TBD To Be Determined Load Controlled by Digital Output 24V 2AN 24V 24V 24V 24V 24V 24V LOAD DOO DO1 DO2 DO3 DO4 DO5 D06 DO7 This example illustrates how to turn on a load when using the internal 24V power supply Remember that there are 24V between the 24V connection and the shield ground even when the load is turned off Load Controlled by Digital Output External Power 24V QI 5 GND GND If the available current from the internal power supply is not enough or if the load needs another voltage such as 12V simply use an external power supply as shown above Another basic way to use digital outputs is to communicate with other indus trial equipment such as PLCs or another UR robot An example of this is shown in the next section which describes the digital inputs 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V LOAD GND DOO DO1 DO2 DO3 D04 DO5 DO6 DO7 2 4 2 Digital Inputs The digital inputs are implemented with weak pull down resistors This means that a floating input will always read low The voltages at which the inputs are guaranteed to read low or high are shown with the other data in table 2 6 To make it cl
37. The digital inputs at the tool are im plemented in the same way as the digital inputs inside the controller box The voltages at which the inputs are guaranteed to read low or high are shown with the other data in table 2 12 To illustrate clearly how easy it is fo use digital outputs a simple example is shown Using Digital Inputs POWER GRAY DI8 YELLOW The above example shows how to connect a simple button or switch A bad quality switch might trigger the input twice due to a long mechanical stabilizing 30 UR 6 85 5 A 2 5 Tool I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Input voltage in voltage mode O05 26 V Input voltage in current mode O05 5 0 V Input Current in current mode 2 5 25 mA Input resistance range OV to 5V 29 kohm Input resistance range OV to 10V 15 kohm Input resistance range 4mA to 20mA 200 ohm Offset error Range 0 5 TBD TBD mV Offset error Range 0 10 TBD TBD mV Offset error Range 4mA to 20mA TBD TBD mA Total error Range 0 5 TBD TBD mV Total error Range 0 10 TBD TBD mV Total error Range 4mA to 20mA TBD TBD mA Table 2 13 Data specification of analog inputs TBD To Be Determined time of the two conducting surfaces However in most programs it will not cause problems 2 5 3 Analog Inputs The analog inputs at the tool are very different from those insid
38. Tool Speed 10 0 mm s Tool Acceleration 1200 0 mm s 9 Waypoint Reset to defaults P AfterEnd _ K il D gt E N ed gt Pi L Speed 100 Previous Next gt The direction is given by two points and is calculated as the difference from the first points TCP to the second points TCP Next Stacking Position Expression The robot moves along the direction vector while continuously evaluating whether the next stack position has been reached When the expression is evaluated to True the special sequence is executed BeforeStart The optional BeforeStart sequence is run just before the operation starts This can be used to wait for ready signals AfterEnd The optional Aft erEnd sequence is run when the operation is finished This can be used to signal conveyor motion to start preparing for the next stack 1A direction does not consider the orientations of the points 65 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Pick Place Sequence Like for the Pallet operation 3 4 22 a special program sequence is performed at each stack position 66 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 24 Program Graphics Tab File Program Setup Move I O Log fal 123 E E Command Graphi
39. UNIVERSAL ROBOTS UR 6 85 5 A User Manual Version 1 11 January 2010 UNIVERSAL ROBOTS 2 UR 6 85 5 A Contents 1 Getting started 7 L a NGA UE ISTO os at a u pu ce ance Ga Gl a sae pk Stee a heathy ge dh sae ae ig Wak Sa 7 1 1 1 Tnhekobofl ope Bk whe oe ee wh dT 8 ees PrOQrOrGIS s s bee ee ee we Oe QUN ea 8 ee 9 12 Turning On and Ofl ee ee ee oe a oe s a 9 1 2 1 Turning on the Controller Box 0 0 9 1 22 Turning on the Robot a 9 1 2 3 Initializing the Robot X aA eS we 9 1 224 Shutting Down the Robot 0 9 1 2 5 Shutting Down the Controller Box 10 1 3 Quick start Step by Step ww 0 0 A 10 1 4 Mounting INSIUCTIONS 6 464 4 4 04 ed oe a Ged 12 1 4 The Workspace of the Robot oa oaa aa a 0 12 1 42 Mounting The Robot 1 12 1 43 Mounting the ool sea ode ala a ia a r r 12 1 4 4 Mounting the Controller Box ee 15 1 4 5 Mounting the Touch Panel aaa aa 15 eee ee ere 1 sss sarun E 15 17 2 Introduction o aaa a 17 et eee 18 2 2 1 The Simplest Emergency Stop Configuration 19 asa as 20 2 2 3 Using an External Emergency Stop Power Supply 20 2 24 Connecting to Other Machinery 4 as 20 PPP pp a dat Se ke a a ie ok 21 2 3 1 Connecting to the Pause Inferfoace 21 Ree ete eee eee
40. ace In the program tree view the command will switch between move j and move1 to display what type of motion is selected The settings of a Move command apply to the path from the robot s current position to the first waypoint under the command and from there to each of the following waypoints The Move command settings do not apply to the path going from the last waypoint under that Move command 49 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 5 Program Command Tab Fixed Waypoint File Program Setup Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program H 9 V Move Fixed position X Waypoint_2 Waypoi nt_2 Rename Waypoint_1 Wait Popup Move robot here Action This is just text r m 9 V Folder Change this waypoint 9 V Movej Waypoint_0 V if2 2 5 Halt V Else Y Move y Waypoint_3 Show advanced options l Event digital_in 9 Fals Popup Stop at this point Halt x Blend with radius Remove this waypoint I Add waypoint before Add waypoint after 4 il Id gt Pi ME Speed 1 0 Previous Next gt A point on the robot path Waypoints are the most central part of a robot program telling the robot where to be A fixed position waypoint is given by physically moving the
41. al Current signal a resistor must be used as shown above The resistor should be around 200 ohms and the re lationship between the voltage at the controller input and the output of the sensor is given by Using Analog Inputs Non differential Current Input Voltage Current x Resistance Note that the tolerance of the resistor and the ohmic change due to tempera ture must be added to the error specifications of the analog inputs 2 5 Tool l O At the tool end of the robot there is q small connector with eight connections 28 UR 6 85 5 A 2 5 Tool l O UNIVERSAL ROBOTS Colour Signal Red OV GND Gray OV 12V 24V POWER Blue Digital output 8 DO8 Pink Digital output 9 DO9 Yellow Digital input 8 DI8 Green Digital input 9 DI9 White Analog input 2 Al2 Brown Analog input 3 AI3 Table 2 9 Relation between cable colours and functions Parameter Min Typ Max Unit Supply voltage in24V mode TBD 24 TBD V Supply voltage in 12V mode TBD 12 TBD V Supply current in both modes 600 mA Short circuit current protection 650 mA Capacitive load TBD uF Inductive load TBD uH Table 2 10 Data specification of tool power supply TBD To Be Determined This connector provides power and contro
42. ariable in this case calculated pos The variable can be a list of joint angles in radians such as given by the assign ment var 0 1 0 4 0 2 2 0 2 1 3 14 Or a pose such as var p 0 5 0 0 0 0 3 14 0 0 0 0 The first three are x y z and the last three are the orientation given as an axis angle given by the vector rx ry rz The length of the axis is the angle to be rotated in radians and the vector itself gives the axis about which to rotate 52 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 8 Program Command Tab Wait File e Program Setup Move 1 0 Log g lt unnamed gt Command Graphics Structure Y Robot Program a V Move Waypoint_2 Wait Waypoint_1 Wait var_1 p 0 4 0 4 0 Please select what should trigger the robots next action Popup V Loop 5 times O No Wait P Call SubProg_O Action O wait 0 01 seconds This is just text Oe lia Wait for Input digital_inf4 HI gt e Waypoint_o Vif2 2 5 O wait for Input analog_in 0 M lt 0 0 Volts Ered Halt 7 P The I O tab shows the live I O data I O Tab 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 WV Move Waypoint_4 Waypoint_S 2 V Folder 4 III WI I gt saon paa P E Speed 1 0 Previous
43. ary to prevent the robot from security stopping unexpectedly when the weight at the tool is different to that which is excpected 53 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 10 Program Command Tab Popup File e Program Setup Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a V Move Waypoint_2 Waypoint_1 Popup malt Shows the message below on the screen and waits for the user var_1 p 0 4 0 4 0 q Popup to press OK 9 W Loop 5 times P Call SubProg_0 Remove the box Action This is just text 9 V Move to door Popup type Preview Popup 9 V Move e Waypoint o _ Message W if2 2 5 Halt Warning 9 V Else Q Error lt empt 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 V Move Waypoint_4 H O Halt program execution at this popup Waypoint_S Ea e 4 lI D gt Q Simulation gt La L Speed Previous Next gt Real Robot The popup is a message that appears on the screen when the program reaches this command The style of the message can be selected and the text itself can be given using the on screen keyboard The robot waits for the user operator to press the OK button under the popup before continuing the program If the Halt prog
44. cs Structure Y Robot Program V Move e ae a 4 4 Waypoint2 Waypoint3 ae e Waypoint2 We e Waypoint4 Vif True m e Waypoint2 9 V Else If False Waypoint_O 9 V Else Waypoint_1 Vv Q Simulation hee gt CI Saeed 1 0 HEET ere Q Real Robot p 1 0 revious ext Graphical representation of the current robot program The path of the TCP is shown in the 3D view with motion segments in black and blend segments transitions between motion segments shown in green The green dots specify the positions of the TCP at each of the waypoints in the program The 3D draw ing of the robot shows the current position of the robot and the shadow of the robot shows how the robot intends to reach the waypoint selected in the left hand side of the screen The 3D view can be zoomed and rotated to get a better view of the robot The buttons in the top right side of the screen can disable the various graphical components in the 3D view The motion segments shown depends on the selected program node If a Move node is selected the displayed path is the motion defined by that move If a Waypoint node is selected the display shows the following 10 steps of movement 67 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming 3 4 25 Program Structure Tab
45. d to be given for the movement involved in the stack operation 63 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming so PlaceSequence P AfterEnd 9 s Pallet 9 s Pattern Square 1st_Corner_0 9 2nd_Corner_0 3rd_Corner_0 9 o gt PalletSequence e Waypoint e PatternPoint_O Action Wait 9 Waypoint V Beforestart lt empt V AfterEnd lt empt 9 s Destack lt D s Startipos 0 l i The item thikness The next stack position is reached when Stacking File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V MoveL s Waypoint_0 Stacking e Waypoint_3 Waypoint_1 For stacking items 7 J Waypoint 2 The stack is defined by the following of parameters Waypoint_4 y g p tu a 9 e Stack s The starting position 9 StartPos_1 Direction d The direction of the stack Ti digital_in 1 True Edit Expression Item thikness 10 0 mm Sequence BeforeStart Tool Speed 28 Tool Acceleration Shared Parameters 250 0 mm s S 1200 0 mm s HHI Sequence AfterEnd Reset to defaults Q Simulation Real Robot gt Speed C100 Previous Next gt When stacking the
46. d to the control box of the robot while the right part shows information about each robot joint Each robot joint shows informa tion for temperaure of the motor and electronics the load of the joint and the voltage at the joint Robot Log On the bottom half of the screen log messages are shown The first column shows the time of arrival of the message The next column shows the sender of the message The last column shows the message itself 3 3 7 Load Screen On this screen you choose which program to load There are two versions of this screen one that is to be used when you just want to load a program and execute it and one that is used when you want to actually select and edit a files program The main difference lies in which actions are available to the user In the basic load screen the user will only be able to access files not modify or delete them Furthermore the user is not allowed to leave the directory structure that descends from the programs folder The user can descend to a sub directory but he cannot get any higher than the programs folder Therefore all programs should be placed in the programs folder and or sub folders under the programs folder 44 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS Screen layout Load Program Current directory home programs x a testurp jointblends urp neq urp Filename test urp 2 Filter Universal Robots Program files Op
47. e Program Setup Move 1 O Log g lt unnamed gt Command Graphics Structure Y Robot Program TTE im Move operation Waypoint_2 Waypoint_1 Wait Here you can tell the robot how it should move Popup between two positions by setting some waypoints pores that the robot should move through This is just text 9 V Folder 3 9 V Move You probably need just one or two waypoints but you Waypoint_0 can have as many as you like V if2 2 5 s Halt Use the buttons below to increase or decrease the number pse a of waypoints 9 V Move Shared Parameters Waypoint_3 b ss I Event digital_in 9 Fals Move Tool Linearly Popup x Halt Joint Speed 60 0 deg s f Joint Acceleration 80 0 deg s2 i Reset to defaults Add Waypoint 4 il gt Osi 7 J Simulation hed p pi EN Speed 1 0 Previous Next gt Q Real Robot L L The Move command controls the robot motion through the underlying way points Waypoints have to be under a Move command The Move command defines the acceleration and the speed at which the robot is moving and also whether the motion is in joint space or linear space In joint space each joint is controlled to reach the desired end location at the same time which results in a curved path for the tool whereas in linear space the joints perform a more complicated motion to keep the tool on a straight line path Generally the robot can move faster in joint so
48. e Back drive button while pulling the robot arm Press OK Your program is ready The robot will move between the two points when you press the Play symbol Stand clear hold on to the emergency stop button and press Play Congratulations You have now produced your first robot program that moves the robot between the two given positions Remember that you have to carry out a risk assessment and improve the overall safety condi tion before you really make the robot do some work 1 UR 6 85 5 A UNIVERSAL ROBOTS 1 4 Mounting Instructions Front Tilted Figure 1 2 The workspace of the robot The robot can work in an appoximate sphere 170cm around the base except for a cylindrical volume directly above and directly below the robot base 1 4 Mounting Instructions The robot consists essentially of six robot joints and two aluminum tubes con necting the robot s base with the robot s tool The robot is built so that the tool can be translated and rotated within the robot s workspace The next sulbsec tions describes the basic things to know when mounting the different parts of the robot system 1 4 1 The Workspace of the Robot The workspace of the UR 6 85 5 A robot extends to 850 mm from the base joint The workspace of the robot is shown in figure 1 2 It is important to consider the cylindrical volume directly above and directly below the robot base when a mounting place for the robot is chosen Mo
49. e programs 3 5 5 Setup Screen Calibrate Touch Screen x Point very precisely in the center of the blue cross Cancel Calibrating the touch screen Follow the on screen instructions to calibrate the touch screen Preferably use a pointed non metallic object such as a closed pen Patience and care help achieve a better result 71 UR 6 85 5 A UNIVERSAL ROBOTS 3 5 Setup 3 5 6 Setup Screen Network Setup robot Please select INITIALIZE robot REQUEST support UPDATE robot Set PASSWORD CALIBRATE screen Setup NETWORK Please select your network method Network detailed settings IP address 0 0 0 Subnet mask 0 0 0 Default gateway 0 0 0 Preferred DNS server 0 0 0 Alternative DNS server 0 0 0 DHCP Static Address Disabled network Setup NETWORK BACK Apply settings Update Panel for setting up the Ethernet network An Ethernet connection is not neces sary for the basic robot functions and is disabled by default 72 UR 6 85 5 A Chapter 4 Warranties and Declarations 4 1 Warranty 4 1 1 Product Warranty Without prejudice to any claim the user customer may have in relation to the dealer or retailer the Customer shall be granted a manufacturer s Warranty un der the conditions set out below In the case of new devices and their components exhibiting def
50. e the controller box The first ting to notice is that they are non differential which is a drawback compared to the analog inputs at the controller I O The second thing to no tice is that the tool analog inputs have current mode functionality which is an advantage compared with the controller I O The analog inputs can be set to different input ranges which are implemented in different ways and therefore can have different offset and gain errors The data specification of the analog inputs is shown in Toble 2 11 An important thing to realize is that any current change in the common GND connection can result a disturbing signal in the analog inputs because there will be a voltage drop along the GND wires and inside connectors Note that a connection between the tool power supply and the analog inputs will permanently damage the O functionality if the analog inputs are set in current mode To make it clear how easy it is to use digital inputs some simple examples are shown Using Analog Inputs Non differential POWER GRAY Al8 WHITE SENSOR e le le The simplest way to use analog inputs The output of the sensor can be either current or voltage as long as the input mode of that analog input is set to the same on the I O tab see section 3 3 2 Remember to check that a sensor with voltage output can drive the internal resistance of the tool or the measurement might be invalid GND RED
51. e the tool trajectory deviates from the straight line path inside the blend areas Also notice that the state of the digital_input 1 sensor is read just as the robot is about to enter the blend area around Waypoint 2 even though the if then Command is after Waypoint 2 in the program sequence This is somewhat counter intuitive but is necessary to allow the robot to select the right blend path 3 4 6 Program Command Tab Relative Waypoint File Program Setup Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move A Relative position v Waypoint_2 Waypoi nt_3 Rename P Waypoint_1 Wait a sans Relative Motion given by the difference between from and to positions 9 V Loop 5 times From point To point A P Call SubProg_0 Distance 85 6mm Action Set this point Set this point This is just text V Move to door V Move Move robot here Move robot here Waypoint_0 Vif2 2 5 Halt r q V Else lt empt Angle 0 0 Show advanced options V Move Waypoint_3 Stop at this point 9 Waypoint F I Event digital_in 9 Fals Blend with radius Popup Halt P SubProg_0 WV Move Waypoint_4 Waypoint_S lorra Remove this waypoint Add waypoint before Add waypoint after older 4 lll D C kee g
52. ear how easy it is to use digital inputs some simple examples are shown 24 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS Parameter Min Typ Max Unit Input voltage O05 26 V Logical low voltage 2 0 V Logical high voltage 5 5 V Input resistance 47k ohm Table 2 6 Data specification of digital inputs Digital Input Simple Button 24V 24v alc 24V alc DI1 DI2 s DI5 s The above example shows how to connect q simple button or switch A bad quality switch might trigger the input twice due to a long mechanical stabilizing time of the two conducting surfaces However in most programs it will not cause problems Digital Input Simple Button feo ew ew ew ew 24v eso ewo eso eso oo bos os The above illustration shows how to connect a button using an external power source Remember that table 2 6 specifies the valid supply voltage for this case Signal Communication with other Machinery or PLCs If communication with other machinery or PLCs is needed and the signal driver is both sinking and sourcing communication is done by direct wiring Since the digital outputs of a UR robot are only sinking a pull up resistor is needed An example where two UR
53. ects result ing from manufacturing and or material faults within 12 months of entry into service maximum of 15 months from shipment Universal Robots shall provide the necessary spare parts while the user Customer shall provide working hours to replace the spare parts either replace the part with another part reflecting the current state of the art or repair the said part This Warranty shall be in valid if the device defect is attributable to improper treatment and or failure to comply with information contained in the user guides This Warranty shall not apply to or extend to services performed by the authorized dealer or the customer themselves e g installation configuration software downloads The purchase receipt together with the date of purchase shall be required as evi dence for invoking the Warranty Claims under the Warranty must be submitted within two months of the Warranty default becoming evident Ownership of de vices or components replaced by and returned to Universal Robots shall vest in Universal Robots Any other claims resulting out of or in connection with the device shall be excluded from this Warranty Nothing in this Warranty shall at tempt to limit or exclude a Customer s Statutory Rights nor the manufacturer s liability for death or personal injury resulting from its negligence The duration of the Warranty shall not be extended by services rendered under the terms of the Warranty Insofar as no Warranty default
54. ed oh a RE eR a 46 3 4 1 Program New Program 24 66 4 oe ek da eee ee 47 3 4 2 Program NOD Fee eR Bas 47 a w pah ah hop S ats 48 ie EMEA eh piaia 49 3 4 5 Program Command lab Fixed Waypoint 50 3 4 6 Program Command lab Relative Waypoint 5 3 4 Program Command lab Variable Waypoint 52 3 4 8 Program Command lab Wait 000 0000 8 53 Nae Bese ig eae ie 53 3 4 10 Program Command Iqb Popup 54 3 4 11 Program Command Iqb Holf ee 54 3 4 12 Program Command lab Comment 55 3 4 13 Program Command lab Folder 55 3 4 14 Program Command lab Loop 56 EREEREER 56 3 4 16 Program Command Tab Assignmeni 57 3 4 17 Program Command Tab lf so 66244 aa 58 3 4 18 Program Command lab Script oaa a 59 3 4 19 Program Command Tab Event 59 3 4 20 Program Command Ioqb Threqd 60 Papaman Sette uapa 60 3 4 22 Program Command lab Pallet 004 62 3 4 23 Program Command Tab S icqck 63 3 4 24 Program Graphics lGD eas eee eG ee ew ae ae 67 3 4 25 Program Structure IOD X ahs eee eee ee a ee we aS 68 a SETUP do a ak cau Bde Ge qm M a as ak kU eS ee Sta 69 3 5 1 Setup Screen a a a a a a i ee e ra 69 I Sh da SB Ge ie eR sh aba a 70 fA eS
55. ee 22 2 4 Digital Outputs eo ok BE So Oe a ee eS 23 2 4 2 Digitolinpufs a we Bet ee 8 a boos 24 2 4 3 Analog Oufpuls eS oe ede amp ee Be Bed 26 2 4 4 Analog npuls SSS Sa Ea ae os 27 ee a a n a na kana S e a ana anat aa puasa 28 2 5 Digital Outputs _ a e be REO aoe 29 2 5 2 _ Digital IpDpUIS uu u sss s y Geeta aa Wala b ela acs w QUN Bee 30 2 5 3 Anqloglnpufs i Ds oe we a nr ni n na 31 UNIVERSAL ROBOTS Contents 33 3 1 Introduction 0 a a rr s a s n i r e e r na 34 311 1 Welcome Screen 0 i i ee he 35 3 1 2 _Initialization Screen aoa r rr r r 35 3 2 On screen Editors oe wl doe eR a eee r ea rr sr r 37 3 2 1 On screen Keypod A 37 3 2 2 On screen Keybpoqrd A 37 3 2 38 On screen Expression Editor 38 3 3 Robot Confroll Se ae BoA r i rr rr e el r ra 38 331 Move lab ES RA Be nais ani nais ini eee sa 38 O 9 2 O ID yuq sut sus Ca aou SR Be wui cee ESE cheese cae 40 3 3 3 AuloMovelob a 41 3 3 4 Setup gt MOUNTING Re ere oD oe eS 42 Ce 43 3396 VOU a s w ara ee Bead ah ua BOR AR Oe ee Be Rode Ae ae 44 z Q RO gep BR eee Bao pa h Ok a 44 239 8 Ur SDI s Z Suyu wards ana g ow uya ruam ard ee anak ee 4 3 4 Progroamming ee ee e
56. en Cancel This image shows the actual load screen It consists of the following important areas and buttons Path history The path history shows a list of the paths leading up to the present location This means that all parent directories up to the root of the computer are shown Here you must notice that you may not be able to access all the directories above the programs folder By selecting a folder name in the list the load dialog changes to that direc tory and displays it in the file selection area 3 3 File selection area In this area of the dialog the contents of the actual area is present It gives the user the option to select a file by single clicking on its name or to open the file by double clicking on its name In the case that the user double clicks on a directory the dialog descends into this folder and presents its contents File filter By using the file filter one can limit the files shown to include the type of files that one wishes By selecting Backup Files the file selection area will display the latest 10 saved versions of each program where o1d0 is the newest and old9 is the oldest File field Here the currently selected file is shown The user has the option to manually enter the file name of a file by clicking on the keyboard icon to the right of the field This will cause an on screen keyboard to pop up where the user can enter the file name directly on the screen Open button Clicking on the Op
57. en button will open the currently selected file and return to the previous screen 45 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming Cancel button Clicking on the Cancel button will abort the current loading process and cause the screen to switch to the previous image Action buttons A series of buttons gives the user the ability to perform some of the actions that normally would be accessible by right clicking on a file name in a conventional file dialog Added to this is the ability to move up in the directory structure and directly to the program folder e Parent Move up in the directory structure The button will not be enabled in two cases when the current directory is the top directory or if the screen is in the limited mode and the current directory is the program folder e Go to program folder Go home e Actions Actions such as create directory delete file etc 3 3 8 Run Tab File 2 Run Move 1 0 Log UNIVERSAL ROBOTS Program movevartest Status Ready to run Program Cycle 0 Time lt This tab provides a very simple way of operating the robot with as few but tons and options as possible This can be useful combined with password pro tecting the programming part of PolyScope see section 3 5 4 to make the robot into a tool that can run exclusively pre written programs 3 4 Programming 46 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 1 Program
58. equence of motions and actions at several different positions This can be useful for palletizing or similar operations A multiposition operation consist of the following features e A Program Sequence to be performed at several positions e The Positions either given as a list or as a lattice e An optional before start sequence that will be performed before the first position e An optional after end sequence that will be performed after the last position Enable or disable optional program sequences CO Special program sequence before the first point v Special program sequence after the last point 4 Qan p PU H spees onoo reues nen A pallet operation can perform q sequence of motions in a set of places given as a pattern as described in section 3 4 21 At each of the positions in the pattern the sequence of motions will be run relative to the pattern position 62 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Programming a Pallet Operation The steps to go through are as follows 1 Define the pattern 2 Make a PalletSequence for picking up placing at each single point The sequence describes what should be done at each pattern position 3 Use the selector on the sequence command screen to define which of the waypoints in the sequence should correspond to the pattern positions Pallet Sequence
59. essment needs to be performed for each accident requiring that the frequency probability and avoidance need to be evaluated for each ac cident Example 1 Error in a robot program Errors in the robot program can happen whenever the robot has been reprogrammezd let s say daily fr 5 Errors in the robot program will only rarely cause it to move to the passage area since the graphics on the programming screen shows the tool trajectory This accident can only happen when a programmer has just programmed the robot and for gotten to check the robot s trajectory Therefore pr 2 And since the robot is only moving at 250mm s it is probable that the accident can be avoided sO av 3 The sum fr pr au is 5 3 2 10 Being hit by the robot can cause bruises that can be treated using first aid Therefore the lowest line of the risk assessment table is used resulting in risk class C The risk can be further reduced for instance by blocking the passage of people during programming and testing of the robot 79 UR 6 85 5 A UNIVERSAL ROBOTS A 1 CE certification of the Robot Installation Example 2 Service without stopping robot A person forgetting to stop the robot when going to service the machine can happen weekly fr 4 It is likely that the presence of the person can result in a dangerous situation pr 4 It is also possible that the person realizes his mistake and avoids the accident so av 3 The sum is 11 This accident wi
60. hot above is created which can be used in expressions within the loop The loop variable counts from 0 to N 1 When looping using an expression as end condition PolyScope provides an option for continuously evaluating that expression so that the loop can be interrupted anytime during its execution rather that just after each iteration 3 4 15 Program Command Tab SubProgram File Program Setup Move I O Log simpleFourPoints Command Graphics Structure Y Robot Program a WV Move Waypoint_2 SubProg_0 Waypoint_1 Wait var_1 p 0 4 0 4 0 q A subprogram can be either a file on disk Popup or can be imported into this program 9 W Loop 5 times P Call SubProg_0 SubProgram file Action lt No File Selected gt This is just text 9 V Move to door Load File 9 V Move Waypoint_0 W if2 2 5 Halt q V Else empt Rename 9 V Move Waypoint_3 Waypoint a S ii Save SubProgram Clear SubProgram Halt P SubProg_0 Keep SubProgram File Updated with this Program 9 V Move Waypoint_4 Waypoint_5 dej 2 4 il D gt Q Simulation 9 Q Real Robot bed gt ha L Speed 1 0 Previous Next gt R Show SubProgram Tree 56 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS
61. ignals are described in section 2 Analog Range Settings The analog output can be set to either current 4 20mA or voltage 0 10V output The analog input ranges adjusted to be from 10 10V to 0 5V The settings will be remembered for eventual later restarts of the robot controller when a program is saved 40 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS 3 3 3 AutoMove Tab The AutoMove tab is used when the robot has to move to a specific position in its workspace Examples are when the robot has to move to the start position of q program before running it or when moving to a waypoint while modifying a program File Program Setup Move I O Log Automove Move Robot into Position Hold down Auto to perform the movement shown Release the button to abort Push Manual to move the robot into position manually i Auto Manual Speed 1 0 Cancel Animation The animation shows the movement the robot is about to perform Compare the animation with the position of the real robot and make sure that robot can safely perform the movement without hitting any obstacles Auto Hold down the Auto button to move the robot as shown in the animation Note Release the button to stop the motion at any time Manual Pushing the Manual button will take you to the MoveTab where the robot can be moved manually This is only needed if the movement in the animation is no
62. int_2 Change this Position Waypoint_4 9 ee Stack 9 StartPos_1 a s Direction aa j Move robot here s PlaceSequence P AfterEnd 9 s Pallet 9 o Pattern Box 9 1st_Corner_O 9 2nd_Corner_O 9 3rd_Corner_O e 4th_Corner_O 9 oe PalletSequence e waypoint m 9 PatternPoint_O a lea 7 lt 4 I esa Action x Wait W 7 9 Waypoint sanp s 9 Y Beforestart Sr cs empt V AfterEnd J a 5 lt empt KW 9 Sa Destack _ 4 D gt Qa P PH spees oroo e Previous nen The Line and Square patterns work similarly A counter variable is used while traversing the positions of the pattern The name of the variable can be seen on the Pattern command screen The vari able cycles through the numbers from 0 to X Y x Z 1 the number of points in the pattern This variable can be manipulated using assignments and can be used in expressions 3 4 22 Program Command Tab Pallet File Program Installation Move I O Log g lt unnamed gt Command Graphics Structure V Robot Program aj 9 o Pallet P Pattern Line Pallet operation StartPos_O EndPos_0 Q s PalletSequence Waypoint_O PatternPoint_O Waypoint_1 A multiposition operation allows the robot to perform the same s
63. l signals for basic grippers and sen sors which may be present at on specific robot tool The reason for having this connector is to save the wiring between the tool and the controller box It is of course necessary to add wires if the I O provided is insufficient The connector is a standard Lumberg RSMEDG8 which mates with a cable named RKMV 8 354 Table 2 9 shows the different I O and the corresponding cable colors Note that the tool flange is connected to GND same as the red wire The available power supply can be set to either OV 12V or 24V at the I O tab in the graphical user interface see section 8 3 2 Take care when using 12V since an error made by the programmer can cause a voltage change to 24V which might damage the equipment and even cause a fire The specifications on the power supply are shown in Table 2 10 The internal control system will generate an error to the robot log if the current exceeds its limit The different Os at the tool is described in the following three subsections 2 5 1 Digital Outputs The digital outputs are implemented so that they can only sink to GND OV and not source current When a digital output is activated the corresponding con nection is driven to GND and when it is deactivated the corresponding con nection is open open collector open drain The primary difference between the digital outputs inside the controller box and those in the tool is the reduced current due
64. ll result in a bruise that can be treated by first aid so the risk assessment class is D Therefore consideration should be given to what can be done to improve the safety of the installation for example setting up warning signs setting up a light breaker or arranging the machine and robot so that the person won t be standing in the path of the robot 80 UR 6 85 5 A
65. m will power off the robot if the current exceeds its limit This will also generate an error message in the robot log The next subsec tions show some simple examples of how to use the different I O functionalities 2 4 1 Digital Outputs The digital outputs are implemented so that they can only sink to GND OV and not source current When a digital output is activated the corresponding connection is driven to GND and when it is deactivated the corresponding connection is open open collector open drain The advantage of this imple mentation is that it is possible to use any external power supply instead of the internal 24V power supply as long as its voltage is not higher than the specified limit The digital outputs are limited by the data specified in table 2 5 Note that the digital outputs are not current limited and overriding the specified data can cause permanent damage To illustrate clearly how to use the digital output ports some simple examples are shown 23 UR 6 85 5 A UNIVERSAL ROBOTS 2 4 Controller I O Parameter Min Typ Max Unit Voltage when open 0 5 26 V Voltage when sinking 1A 0 05 1020 V Current when sinking 0 2 A Current through one screw terminal 10 A Switch time for DOO to DOS 500 us Switch time for DO to DO7 10 us Capacitive load TBD uF Inductive load TBD UH Table 2 5 Data specification of digital outputs
66. not True HI jamaa lt False LO 8 9 lt aw lt Input gt v lt Output gt X IV lt Variable gt lt Waypoint gt al 1 2 3 OK lt Function gt X 0 SHIFT X Cancel While the expression itself is edited as text the expression editor hos q num ber of buttons and functions for inserting the special expression symbols such as for multiplication and lt for less than or equal to The keyboard symbol button in the top right of the screen switches to text editing of the expression All de fined variables can be found in the Variable selector while the names of the input and output ports can be found in the Input and Output selectors Some special functions are found in Function The expression is checked for grammatical errors when the ok button is pressed The Cancel button leaves the screen discarding all changes An expression can look like this digital_in 1l True and analog_in 0 lt 0 5 3 3 Robot Control 3 3 1 Move Tab On this screen you can always move jog the robot directly either by translat ing rotating the robot tool or by moving robot joints individually 38 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS File e Program Setup Move 1 0 Log Move Tool Robot Configuration ease a Flip Wrist Flip Elbow Flip Shoulder D Home Tool Position
67. o the currently loaded program If the Move tab is selected the screen changes to the Move screen from where the robot can be moved Similarly by selecting the I o tab the current state of the electrical O can be monitored and changed It is possible to connect a mouse and a keyboard to the controller box how ever this is not required Whenever a text or number input is needed an on screen keypad or keyboard is provided pe Ennens Edit Expression The on screen keypad keyboard and expression editor can be reached using the buttons shown above The various screens of PolyScope are described in the following sections 34 UR 6 85 5 A 3 1 Introduction UNIVERSAL ROBOTS 3 1 1 Welcome Screen PolyScope Robot User Interface Please select RUN Program UNIVERSAL ROBOTS s SETUP Robot About SHUT DOWN Robot After booting up the controller PC the welcome screen is shown The screen offers the following options e Run Program Choose a program to run This is the simplest way to op erate the robot but requires a suitable program to have already been produced e Program Robot Change a program or create q new program e Setup Set passwords upgrade software via the Internet request support calibrate the touch screen etc e Shut Down Robot Shuts down the Controller PC and powers off the robot 3 1 2 Initialization Screen Initialize Robot e Push A
68. obots should be consid ered to avoid these situations 2 4 3 Analog Outputs The analog outputs can be set for both current mode and voltage mode in the range of 4 20mA and 0 5V respectively The analog outputs are limited by the data shown in table 2 7 To illustrate clearly how easy it is to use analog outputs some simple exam ples are shown Using the Analog Outputs Analog controlled actuator ece gt gt This is the normal and best woy to use analog outputs The illustration shows a setup where the robot controller controls an actuator like a conveyor belt The best result is accomplished when using current mode because it is more immune to disturbing signals Using the Analog Outputs Non Differential Signal AV pay Analog controled actuator 24V 24V AOL GND GND GND GND If the controlled equipment does not take a differential input an alternative solution can be made as shown above This solution is not very good in terms of noise and can easily pick up disturbing signals from other machinery Care must be taken when the wiring is done and it must be kept in mind that disturbing signals induced into analog outputs may also be present on other analog O 26 UR 6 85 5 A 2 4 Controller I O UNIVERSAL ROBOTS
69. on e Waypoint_O WV if2 2 5 Halt V Else lt empt 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt Add Else If Remove Else If IP SubProg_0 9 V Move rila s Waypoint_4 Remove Else Waypoint_5 9 V Folder 4 lI gt Q Simulation Q Real Robot CJ Lal Pi E Speed 1 0 Previous Next gt An if then else construction can make the robot change its behavior based on sensor inputs or variable values Use the expression editor to describe the condition under which the robot should proceed to the sub commands of this F If the condition is evaluated to True the lines inside this If are executed Each If can have several ElseIf and one Else command These can be added using the buttons on the screen An ElseIf Command can be removed from the screen for that command The open Check Expression Continuously allow the conditions of the f and ElseIf statements to be evaluated while the contained lines are ex ecuted If a expression evaluates to False while inside the body of the I f part the following ElseIf or Else statement will be reached 58 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 18 Program Command Tab Script File Program Setup Move I O Log g lt unnamed gt
70. p TCP Position File Program Setup Move 1 0 Log Mounting TCP Position Setup for the Tool Center Point Setting the Tool Center Point TCP Coordinates x 0 0 mm Y 0 0 mm Z 20 0 mm The payload at the TCP is 2 0 kg Se Fit program to new TCP Recalculate robot motions to fit new tool offsets Change motions L Redraw graphics to illustrate the new tool offsets Change graphics The Tool Center Point TCP is the characteristic point on the robot s tool When the robot moves linearly it is this point that moves in a straight line It is also the motion of the TCP thot is visualized on the graphics tab The TCP is given relative to the center of the tool output flange as indicated on the on screen graphics The two buttons on the bottom of the screen are relevant when the TCP is changed e Change Motions recalculates all positions in the robot program to fit the new TCR This is relevant when the shape or size of the tools has been changed e Change Graphics redraws the graphics of the program to fit the new TCP This is relevant when the TCP has been changed without any physical changes to the tool 43 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 3 6 Log Tab File Program Setup Move 1 0 Log Robot Health Readings Joint Load Controller Temp 00 0 C Base POWER OFF 0
71. path and perform commands like if then and loop based on variables and I O signals 1 1 3 Safety Evaluation The robot is a machine and as such a safety evaluation is required for each installation of the robot Appendix A 1 describes how to perform a safety evalu ation 1 2 Turning On and Off How to turn the different parts of the robot system on and off is described in the following subsections 1 2 1 Turning on the Controller Box The controller box is turned on by pressing the On button at the front side of the controller box When the controller box is turned on a lot of text will appear on the screen After about 30 seconds the Universal Robot s Logo will appear with the text Loading After around 70 seconds a few buttons appear on the screen and a popup will force the user to go to the initialization screen 1 2 2 Turning on the Robot The robot can be turned on if the controller box is turned on and if all emer gency stop buttons are not activated Turning the robot on is done at the initial ization screen by touching the ON button at the screen When it is turned on a noise can be heard as the brakes unlock After the robot has been turned on it needs to be initialized before it can begin to perform work 1 2 3 Initializing the Robot After the robot is powered up each of the robot s joints needs to find its ex act position by moving to a home position Each large joint has around 20 home
72. positions evenly distributed over one joint revolution The small joints have around 10 The Initialization screen shown in figure 1 1 gives access to manual and semi automatic driving of the robot s joints to move them to a home po sition The robot cannot automatically avoid collision with itself or the surrounds during this process Therefor caution should be exercised The Auto button near the top of the screen drives all joints until they are ready When released and pressed again all joints change drive direction The Manual buttons permit manual driving of each joint Amore detailed description of the initialization screen is found in section s 1 2 1 2 4 Shutting Down the Robot The power to the robot can be turned off by touching the OFF button at the initialization screen Most users do not need to use this feature since the robot is 9 UR 6 85 5 A UNIVERSAL ROBOTS 1 3 Quick start Step by Step Initialize Robot e Push Auto until all lights turn green Rotate joints individually if necessary Robot Auto INITIALIZING amp Base Joint lt a EP Auto INITIALIZATION Shoulder joint lt a E gt Auto INITIALIZATION Elbow Joint gt Auto INITIALIZATION Wrist 1 Joint lt a ED Auto INITIALIZATION 5 Wrist 2 Joint lt a B gt Auto INITIALIZATION Wrist3Jont lt E gt Auto INITIALIZATION X Exit Figure 1
73. ram execution item is selected the robot program halts at this popup 3 4 11 Program Command Tab Halt File Program Setup Move 1 0 Log g lt unnamed gt Command Graphics Structure Y Robot Program 9 V Move Waypoint_2 Halt Waypoint_1 Wait Program execution stops at this point var_1 p 0 4 0 4 0 d Popup W Loop 5 times P Call SubProg_0 Action This is just text V Move to door WV Move e Waypoint Vif2 2 5 Halt V Else lt empt 9 V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 9 V Move Waypoint_4 Waypoint_5 Y Folder lI D gt ee lt lt gt E Speed 1 0 Previous Next gt a alo The program execution stops at this point 54 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS 3 4 12 Program Command Tab Comment File Program Setup Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program a V Move Waypoint_2 Com ment Waypoint_1 Wait var_1 p 0 4 0 4 0 Popup V Loop 5 times This is just text a P Call SubProg_0 Action This is just text 9 V Move to door 9 V Move Waypoint 0 W If 2 2 5 Halt 9 V Else Please enter comment
74. riables ad po Useful for controlling other machnies while the robot is running V Else lt empt WV Move e Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P SubProg_0 9 V Move e Waypoint_4 9 Waypoint_5S 9 V Folder Ih lt empt Script set_gravity 0 0 Y Thread_0 Action e v Thread Loops Until Stopped Action Wait 4 lll I gt een 4 gt pi m Speed J1 0 Previous Next gt A thread is a parralel process to the robot program A thread can be used to control an external machine independently of the robot arm A thread can communicate with the robot program with variables and output signals 3 4 21 Program Command Tab Pattern File Program Installation Move I O Log lt unnamed gt Command Graphics Structure Robot Program a 9 V Move 3 Waypoint_0 Grid Pattern Waypoint_1 Waypoint_2 s Ae lt Pattern A pattern is a group of positions to be cycled through 9 Waypoint Patterns can be used for making much more palletizing etc 9 oe Pallet oo Pattern r Q s PalletSequence Waypoint Positions on a line Line s 9 PatternPoint_0 Artion Wait Waypoint Positions in a square Square Positions in a box Box A list of
75. robot moves to the starting position and then moves opposite the direction to search for the next stack position When found the robot remembers the position and performs the special sequence The next time round the robot starts the search from the remembered position incremented by the item thickness along the direction The stacking is finished when the stack hight is more than some defined number or when a sensor gives a signal oe PickSequence StackPos_O Action DO 0 Wait 2 0 Waypoint_3 W BeforeStart Top of the sta V AfterEnd Bottom reache 9 V Move a Waypoint 9 Waypoint 9 Waypoint 9 Waypoint 9 oe Pallet oe Pattern Square 9 1st_Corner_O 9 2nd_Corner_O _ a 3rd er 0 il gt 4 i The item thikness The next stack position is reached when Destacking File Program Installation Move I O Log g lt unnamed gt Command Graphics Structure Y Robot Program 9 WV Move gt Waypoint Destacking a 9 Waypoint_1 Destacing remove items one by one from a stack I G ace o The stack is defined by the following of parameters 9 Direction s The starting position FromPos_0 TEA d The direction of the stack ldigital_in 2 True Edit Expression Item thikness 5 0 mm Sequence BeforeStart mA Tool Speed Tool Acceleration Shared Parameters 2
76. robot to the position Waypoint names Waypoint names can be changed Two waypoints with the same name is al ways the same waypoint Waypoints are numbered as they are specified Blend radius If a blend radius is set the robot trajectory blends around the waypoint allowing the robot not to stop at the point Blends cannot overlap so it is not possible to set a blend radius that overlaps a blend radius for a previous or following waypont A stop point is a waypoint with a blend radius of 0 0mm Note on I O Timing If a waypoint is a stop point with an I O command as the next command the I O command is executed when the robot stops at the waypoint However if the waypoint has a blend radius the following I O command is executed when the robot enters the blend 50 UR 6 85 5 A 3 4 Programming UNIVERSAL ROBOTS Example Program Starting point movel WaypointStart Straight line segment Waypoint Waypoint2 if digital_input 1 then Waypoint 1 WaypointEnd1 5cm blend else WaypointEnd2 Straight line segment endif This is where the input Waypoint 2 port is read 10 cm blend Ending point 2 Ending point 1 A small example in which q robot program moves the tool from a starting posi tion to one of two ending positions depending on the state of digital_input 1 Notice that the tool trajectory thick black line moves in straight lines outside the blend areas dashed circles whil
77. rong or the robot carries a heavy load the robot might start moving falling when the Backdrive button is pressed In that case just release the Backdrive button again 39 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control Configuration With these buttons you can change the joint position in such a way that the tool of the robot does not change position but the robot arm changes side Beware of collisions when using this feature 3 3 2 1 O Tab File Program Setup Move I O Log Controller Input Tool Input Digital 0 1 2 3 4 5 6 7 Digital 8 9 mo JL IL IL JLI ID II mco J Analog 0 Analog 1 Analog 0 000 V 0V 10V lt 0 000 V OV SV 2 0 0000A 0 20mA KEKE wy oy oy N 3 0 000 V OV 5V Controller Output Tool Output Digital 0 J 2 3 4 5 6 7 Digital 8 9 aor JSS on of Voltage Current Analog 0 Analog 1 I v J c m G voltage u Current gt T an TIITA ov 10V 4mA 20mA Q Simulation Q Real Robot On this screen you can always monitor and set the O signals from to the robot The screen displays the current state of the I O inluding during program execution If anything is changed during program execution the program will stop At program stop all output signals will retain their states The screen is updated at only 10Hz so a very fast signal might not display properly The electrical details of the s
78. s essential In PolyScope the motions of the tool are given using a series of waypoints Each waypoint is a point in the robot s workspace Waypoints A waypoint is q point in the workspace of the robot A waypoint can be given by moving the robot to a certain position or can be calculated by software The robot performs a task by moving through a sequence of waypoints Various options regarding how the robot moves between the waypoints can be given in the program Defining Waypoints Moving the Robot The easiest way to define a waypoint is to move the robot to the desired position This can be done in two ways 1 By simply pulling the robot while pressing the Back drive button on the touch screen see 3 3 1 2 By using the touch screen to drive the tool linearly or to drive each joint individually Blends Per default the robot stops at each waypoint By giving the robot free dom to decide how to move near the waypoint it is possible to drive through the desired path faster without stopping This freedom is given by setting a blend radius for the waypoint which means that once the robot comes within a cer tain distance of the waypoint the robot can decide to deviate from the path A blend radius of 5 10 cm usually gives good results 8 UR 6 85 5 A 1 2 Turning On and Off UNIVERSAL ROBOTS Features Besides moving through waypoints the program can send I O signals to other machines at certain points in the robot s
79. s only valid when the ambient temperature of the controller box and the robot is within its specified working range and that all voltage and current data is implicitly DC 17 UNIVERSAL ROBOTS 2 2 The Emergency Stop Interface E24 24V Emergency stop power supply EG OV Emergency stop GND connection SWI Emergency stop button switch input SWO Emergency stop button switch output ERI Emergency relay input ERO Emergency relay output Table 2 1 Abbreviations for the emergency stop interface 2 2 The Emergency Stop Interface UNIVERSAL ROBOTS 1 Anal In 1 Digital Outputs H Digital Inputs i Emergency stop Powe i FZEZEZEUETETEUETIEUETEJ EET EE EE E EE pal fpe ololojolnlojolololalonlololonlolo exo exo xo o00 03 po2 pos o pos gt oe o oo oa o os ESTAS SS US SO A Inside the controller box there is q panel of screw terminals as shown above It is only the leftmost part which is used for the emergency stop functions the other terminals are normal I O as shown below Emergency stop 1 24V 1 24V 24V 24V t 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 1 24V Al A1 AG AO1 akak Gat SCN aa ARC Q k E W SS ak yas a a a TA A et 3 SE Wa Sak S ier oba Sasa Soap oloo E E EE E lam EE S E E E E e E s ss eee sr YT veh veh ve ve ve ve pa ei x a ok ik pa k
80. sor has a differential voltage output Using Analog Inputs Non differential Voltage Input AV 2AN 24V SENSOR 24v A1 i GND GND GND GND A0 A0 If it is not possible to achieve a differential signal from the equipment used q so lution could look something like the setup above Unlike the non differential ana log output example in subsection this solution would be almost as good as the differential solutions 27 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Using Analog Inputs Differential Current Input AV MAN 24V 24V Al SENSOR le J e e GND GND GND GND AO A0 When longer cables are used or if it is a very noisy environment current based signals are preferred Also some equipment comes only with a current output To use current as inputs an external resistor is needed as shown above The value of the resistor would normally be around 200 ohms and the best result is accomplished when the resistor is close to the screw terminals of the controller Note that the tolerance of the resistor and the ohmic change due to tempera ture must be added to the error specifications of the analog inputs SENSOR le If the output of the equipment is q non differenti
81. t E gt Auto INITIALIZATION o X Exit This screen is used when powering up the robot Before the robot can op erate normally each joint needs to move a little about 20 to finds its exact position The Auto button drives all joints until they are oK The joints change drive direction when the button is released and pressed again 3 5 3 Setup Screen Update Setup robot Update robot software Search Please select INITIALIZE robot REQUEST support Click Search to download a list of UPDATE robot possible updates for this robot Description Set PASSWORD CALIBRATE screen Setup NETWORK BACK Update Provided the robot is attached to the Internet new software can be down loaded 70 UR 6 85 5 A 3 5 Setup UNIVERSAL ROBOTS 3 5 4 Setup Screen Password Setup robot Change password Please select Enter old password INITIALIZE robot Enter new password Re enter new password Dee robe lasst passworda Set PASSWORD In order to protect users from being able to modify the program You should set a password to protect this area CALIBRATE screen Setup NETWORK The programming part of the software can be locked using a password When locked programs can be loaded and run without the password but a password is required to create or chang
82. t m m Speed Previous Next gt A waypoint with the position given relative to the robot s previous position such as two centimeters to the left The relative position is defined as the 51 UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming difference between the two given positions left to right Note that repeated relative positions can move the robot out of its workspace 3 4 7 Program Command Tab Variable Waypoint File Program Setup Move 1 0 Log lt unnamed gt Command Graphics Structure Y Robot Program a Waypoint_2 Waypoi nt Rename Waypoint_1 Wait var_1 p 0 4 0 4 0 Move the robot to a variable position Popup 9 W Loop 5 times P Call SubProg_0 Action This is just text 9 V Move to door 9 V Move Waypoint 0 W if2 2 5 Halt V aes Show advanced options Use variable var_1 gt Xr Move Stop at this point Waypoint_3 P 7 Waypoint Blend with radius Event digital_in 9 Fals m Popup Halt P subProg_o 9 V Move Waypoint_4 Waypoint_5 9 V Folder 4 I gt pa a gt Po E Speed J1 0 j Previous Next gt L J Remove this waypoint Add waypoint before Add waypoint after ld A waypoint with the position given by a v
83. t preferable 41 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 3 4 Setup Mounting File Program Setup Move I O Log Mounting TGR Position Specify Robot Mount and Angle T yi 1 Tilt tas t 037 8 45 Rotate Robot Base Mounting 45 080 8 gt 45 Here the mounting of the robot can be specified This serves two purposes 1 Making the robot look right on the screen 2 Telling the controller about the direction of gravity The controller uses an advanced dynamics model to give the robot smooth and precise motions and to make the robot hold itself when backdriven For this reason it is important that the mounting of the robot is set correctly The default is that the robot is mounted on a flat table or floor in which case no change is needed on this screen However if the robot is ceiling mounted wall mounted or mounted at an angle this can be adjusted using the push buttons The buttons on the right side of the screen are for setting the angle of the robot s mounting The three top right side buttons set the angle to ceiling 180 wall 90 floor 0 The Tilt buttons can be used to set an arbitrary an gle The buttons on the lower part of the screen are used to rotate the mounting of the robot to match the actual mounting 42 UR 6 85 5 A 3 3 Robot Control UNIVERSAL ROBOTS 3 3 5 Setu
84. t is important to notice that any short circuit or lost connection will lead to an emergency stop 18 UR 6 85 5 A 2 2 The Emergency Stop Interface UNIVERSAL ROBOTS ERI L 24v Emergency Robot EP ae Stop A A Figure 2 1 Simplified schematics of the internal robot emergency stop circuitry ERI ERO Parameter Min Typ Max Unit Voltage available at connection E24 TBD 24 TBD V Current available at connection E24 800 MA Short circuit current protection 850 mA Capacitive load at connection E24 TBD uF Inductive load at connection E24 TBD UH Emergency relay ON voltage 18 24 26 V Emergency relay OFF voltage 0 1 5 V Emergency relay quiescent current 110 TBD mA Current through internal switch 1 0 A Table 2 2 Emergency stop interface data TBD To Be Determined as long as only one error appears at a time Failure and abnormal behavior of relays and power supplies results in an error message in the robot log and prevents the robot from powering up It is generally important that the connections to the emergency stop inter face are separated from the normal O interface and that it is never con nected to a PLC which is not a safety PLC with the right safety level If this rule is not followed it is no
85. t possible to get a high safety level because one failure in normal I O can prevent an emergency stop signal from resulting in an emer gency stop Other rules that restrict the use of the emergency stop interface are shown in table 2 2 Note that connection E24 is sourced by the same internal 24V regulator as the normal I O and that the maximum of 800mA is for both power sources together The internal control system will power off the robot if the current exceeds its limit This will also generate an error message in the robot log The next subsec tions show some simple examples of how the emergency stop interface can be connected to other safety equipment and other safety circuits 2 2 1 The Simplest Emergency Stop Configuration E24 EG ERI ERI SWI SWI Wo Wo ERO J ERO The simplest configuration is to use the internal emergency stop button as the only component to generate an emergency stop This is done with the configuration shown above This configuration is the default when the robot leaves the factory and thereby the robot is ready to operate However the emergency configuration should be changed if required by the risk assessment 19 UR 6 85 5 A UNIVERSAL ROBOTS 2 2 The Emergency Stop Interface 2 2 2 Connecting an External Emergency Stop Button E24 EG ERI RI 4 4 Emergency voters pa 202294 Stop wi swi swo swo ERo ERo
86. t_1 Assignment Wait Popup W Loop 5 times P Call SubProg_O Action This is just text 9 V Move to door Variable Expression a Ooo Assigns the selected variable with the value of the expression V Move 9 Vif2 2 5 Waypoint_0 var_1 lt Halt 9 V Else Rename empt V Move Waypoint_3 Waypoint Event digital_in 9 Fals Popup Halt P subProg_o 9 WV Move Waypoint_4 L Waypoint_5 ea V Folder x 4 lll D gt p 0 4 0 4 0 0 3 14 0 0 0 0 Edit Expression Q Simulation Q Real Robot hed gt gt Assigns values to variables An assignment puts the computed value of the right hand side into the variable on the left hand side This can be useful in Speed J1 0 57 Previous Next gt UR 6 85 5 A UNIVERSAL ROBOTS 3 4 Programming complex programs 3 4 17 Program Command Tab If File Program Setup Move 1 O Log lt unnamed gt Command Graphics Structure Y Robot Program a 9 V Move Waypoint_2 inns ag If Statement 4 p 0 4 0 4 0 d Depending on the state of the given sensor input or Popup oS program variable the following lines will be executed 9 W Loop 5 times P Call SubProg_O _ Action If 24 2 5 This is just text r aa Edit Expressi
87. th by the mains cable If other earth connections are needed for external equipment please use the M8 screw at the bottom right corner of the controller box as shown below 15 UR 6 85 5 A UNIVERSAL ROBOTS 1 4 Mounting Instructions 16 UR 6 85 5 A Chopter 2 Electrical Interface 2 1 Introduction There are electrical inputs outputs 1 Os inside the controller box and at the robot tool flange Some of the I Os inside the controller box are dedicated to the robot emergency stop functionality and some Os allows the robot to communicate with other machines and equipment The I O at the robot tool flange can be used to control grippers and sensors placed on the tool Both the controller and the tool I O can be tested at the O tab in the graphical user interface as explained in section 8 3 2 The next three sections explain how to use the electrical I O Note that according to the IEC 61000 standard cables going from the controller box to other machinery and factory equipment may not be longer than 30m unless extended test requirements are performed Note that every minus connection OV is referred to as GND and is connected to the shield of the robot and the controller box However all mentioned GND connections are only for powering and signaling For a real ground connec tion there is an M 10 sized screw connection at the down right corner of the controller box Note that data in this chapter i
88. to the small connector Table 2 1 Tlists the specified data Note that the digital outputs in the tool are not current limited and overriding the specified data can cause permanent damage To illustrate clearly how easy it is fo use digital outputs a simple example is shown 29 UR 6 85 5 A UNIVERSAL ROBOTS 2 5 Tool I O Parameter Min Typ Max Unit Voltage when open 0 5 26 V Voltage when sinking 1A 0 05 020 V Current when sinking 0 A Current through GND A Switch time 1000 us Capacitive load TBD uF Inductive load TBD UH Table 2 11 Data specification of digital outputs TBD To Be Determined Parameter Min Typ Max Unit Input voltage O05 26 V Logical low voltage 2 0 V Logical high voltage 5 5 V Input resistance 47k ohm Table 2 12 Data specification of digital inputs Using Digital Outputs POWER GRAY DO8 BLUE This example illustrates how to turn on a load when using the internal 12V or 24V power supply Remember that you have to define the output voltage at the I O tab see section 8 3 2 Keep in mind that there is voltage between the POWER connection and the shield ground even when the load is turned off 2 5 2 Digital Inputs The digital inputs are implemented with weak pull down resistors This means that a floating input will always read low
89. ut into service until the machinery into which it is to be incorporated has been declared to be in conformity with the provisions of the Machinery Directive 2006 42 EC and with national implementing legislation 4 2 7 Place and Date of the Declaration Place Universal Robots ApS Svendborgvej 102 5260 Odense S Denmark Date 29 December 2009 4 2 8 Identity and Signature of the Empowered Person Name Lasse Kieffer Address Svendborgvej 102 5260 Odense S Denmark Phone number 45 8993 8971 E mail address kieffer universal robots com Signature 76 UR 6 85 5 A Appendix A Safety Assessment 77 UNIVERSAL ROBOTS A 1 CE certification of the Robot Installation Frequency fr Probability pr Daily 5 Common 5 Avoidance av Weekly 4 Likely 4 Impossible 5 Monthly 3 Possible 3 Possible 3 Annually 2 Rare 2 Likely 1 Less Negligible 1 Table A 1 The three factors that need to be evaluated for each possible acci dent in a given robot application A 1 CE certification of the Robot Installation The robot is a CE certified machind In a given application the robot is com bined with a tool The combination of the robot and the tool is q new machine This new machine also has to be certified A 1 1 Safety Requirements The UR 6 85 5 A is a small and light industrial robot with advanced motor con trol and surveillance of the robot s functions Universal
90. uto until all lights turn green Rotate joints individually if necessary Robot Auto INITIALIZING Base Joint Aut IZATION ase Join lt P gt Auto INITIAL amp Shoulder joint lt ED Auto _ INITIALIZATION Elbow Joint lt a E gt Auto INITIALIZATION o Wrist 1 Joint lt Zl E gt Auto INITIALIZATION Wrist 2 Joint Aut rist2 Joint lt a gt Auto INITIALIZATION Wrist 3 Joint lt a gt Auto INITIALIZATION amp X Exit 35 UR 6 85 5 A UNIVERSAL ROBOTS 3 1 Introduction On this screen you control the initialization of the robot When turned on the robot needs to find the positions of each joint To get the joint positions the robot needs to move each joint Status LEDs The status LEDs give an indication of the joints running state e A bright red LED tells that the robot is currently in a stopped state where the reasons can be several e A bright yellow LED indicates that the joint is running but dosn t know its present position and needs homing e Finally a green LED indicates that the joint is running correctly and is ready to execute All the LEDs have to be green in order for the robot to operate normally Auto movement Auto Buttons Normally it is always advisable to use the auto buttons to move the individual joints until they reach a known state In order to operate the button you have to press on the A
91. uto button and keep it pressed The auto buttons can be pressed individually for each joint or for the whole robot Great care should be taken if the robot is touching an obstacle or table since driving the robot into the obstacle might damage a joint gearbox Moving directly Move Buttons In the case where a joint is in a position where there is a major risk that uncon trolled motion would cause damage to the robot or its surroundings The operator can choose to home the robot manually for each joint Each joint needs to move until the status LED changes to green see section 3 1 2 36 UR 6 85 5 A 3 2 On screen Editors UNIVERSAL ROBOTS 3 2 On screen Editors 3 2 1 On screen Keypad X Cancel Simple number typing and editing facilities In many cases the unit of the typed value is disolayed next to the number 3 2 2 On screen Keyboard SHIFT f X Cancel Simple text typing and editing facilities The Shift key can be used to get some additional special characters 37 UR 6 85 5 A UNIVERSAL ROBOTS 3 3 Robot Control 3 2 3 On screen Expression Editor z analog_in 1 lt analog_in 0 1 0 G and or xor
92. ving the tool close to the cylindrical volume should be avoided if possible because it causes the robot joints to move fast even though the tool is moving slowly 1 4 2 Mounting the Robot The robot is mounted using 4 M8 bolts using the four 8 5mm holes on the robot s base If very accurate repositioning of the robot is desired two 8 holes are provided for use with a pin Figure T 3 shows where to drill holes and mount the screws 1 4 3 Mounting the Tool The robot tool flange has four holes for attaching a tool to the robot A drawing of the tool flange is shown in figure 1 4 12 UR 6 85 5 A UNIVERSAL ROBOTS 1 4 Mounting Instructions Surface on which the robot is fitted It should be flat within 0 05mm 5 1 2 OR B L M I _ M8 12 4 Outer diameter of robot mounting flange 7 N N N AN ZN 7 Z 7 z a 4 a 7 7 7 a z 1 N lt l gt I5 7 i 34 ku D 132 0 5 k _ a PA Cable exit 55 7 149 Figure 1 3 Holes for mounting the robot scale 1 1 Use 4 M8 bolts All measure ments are in mm 13 UR 6 85 5 A 1 4 Mounting Instructions UNIVERSAL ROBOTS ie SLD gu 900 9 0 OSG LaAIVOS ZH 0 FIED os q q NOILOJS SZO O JOJOSUUOD VSE 8 AWA Bi quun1 yim SOO IOJOSUUOD JOO U

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