Universal Robots E Series Manuale utente

UniversalRobots e-Series

User Manual

UR5e

Original instructions (en)

UR5e User Manual

The information contained herein is the property of UniversalRobotsA/S and shall not be

reproduced in whole or in part without prior written approval of UniversalRobotsA/S. The

information herein is subject to change without notice and should not be construed as a

commitment by UniversalRobotsA/S. This document is periodically reviewed and revised.

UniversalRobotsA/S assumes no responsibility for any errors or omissions in this document.

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

User Manual UR5e

UR5e User Manual

Contents

1.Preface 1

1.1. What Do the Boxes Contain 2

1.2. Important Safety Notice 3

1.3. How to Read This Manual 3

1.4. Where to Find More Information 3

1.4.1. UR+ 3

1.4.2. UR Forums 3

Part I Hardware Installation Manual 5

2.Safety 7

2.1. Introduction 7

2.2. Validity and Responsibility 7

2.3. Limitation of Liability 8

2.4. Warning Symbols in this Manual 8

2.5. General Warnings and Cautions 9

2.6. Intended Use 11

2.7. Risk Assessment 12

2.8. Pre-Use Assessment 14

2.9. Emergency Stop 15

2.10. Movement Without Drive Power 15

3.Safety-related Functions and Interfaces 17

3.1. Introduction 17

3.2. Stop Categories 17

3.3. Configurable Safety Functions 18

3.4. Safety Function 22

3.5. Modes 22

4.Transportation 25

5.Mechanical Interface 27

5.1. Introduction 27

5.2. Workspace of the Robot 27

5.3. Mounting 27

5.4. Maximum Payload 30

5.4.1. Payload Inertia 31

User Manual UR5e

6.Electrical Interface 32

6.1. Introduction 32

6.1.1. Control Box Bracket 32

6.2. Ethernet 32

6.3. Electrical Warnings and Cautions 33

6.4. Controller I/O 35

6.4.1. Common specifications for all digital I/O 36

6.4.2. Safety I/O 37

6.4.3. General purpose digital I/O 42

6.4.4. Digital Inputs from a button 42

6.4.5. Communication with other machines or PLCs 43

6.4.6. General purpose analog I/O 43

6.4.7. Remote ON/OFF control 44

6.5. Mains Connection 45

6.6. Robot Connection: Robot Cable 47

6.6.1. Robot Cable connector 47

6.7. Robot Connection: Base Flange Cable 48

6.7.1. Base Flange Cable connector 48

6.8. Tool I/O 49

6.8.1. Tool Power Supply 50

6.8.2. Power Supply 50

6.8.3. Dual Pin Power Supply 50

6.8.4. Tool Digital Outputs 51

6.8.5. Tool Digital Inputs 52

6.8.6. Tool Analog Input 53

6.8.7. Tool Communication I/O 54

7.Maintenance and Repair 55

7.1. Safety Instructions 55

7.2. Cleaning 56

7.3. Inspection 56

7.3.1. Robot Arm Inspection Plan 56

7.3.2. Robot Arm Visual Inspection 57

7.3.3. Control Box Inspection Plan 58

7.3.4. Control Box Visual Inspection 58

7.3.5. Freedrive Inspection 59

8.Disposal and Environment 60

UR5e User Manual

9.Certifications 61

10.Warranties 63

10.1. Product Warranty 63

10.2. Disclaimer 64

11.Stopping Time and Stopping Distance 65

12.Declarations and Certificates 68

13.Certificates 70

14.Applied Standards 78

15.Technical Specifications 83

16.Safety Functions Tables 85

16.1. Table 1 85

16.2. Table 2 93

Part II PolyScope Manual 97

17.Introduction 99

17.1. Robot Arm Basics 99

17.2. PolyScope Basics 99

17.2.1. Touch Screen 100

17.2.2. Header Icons/Tabs 100

17.2.3. Footer Buttons 102

17.3. Installation 102

17.3.1. Installing the Robot Arm and Control Box 102

17.3.2. Turning the Control Box On/Off 103

17.4. Initialization 103

17.4.1. Starting up the Robot Arm 104

17.5. Quick System Start-up 105

17.6. The First Program 105

17.7. Robot Registration and URCap License files 106

17.7.1. Registering the Robot from Your Current Screen 107

17.7.2. Downloading the URCAP License File 107

17.7.3. Unregistering Robot 108

17.8. Robot Cyber Security 108

17.8.1. Cyber Security Pre-requisites 108

17.8.2. Hardening Cyber Security 109

18.Freedrive 111

18.1. Enabling Freedrive: Standard Teach Pendant 112

User Manual UR5e

18.1.1. Using the Freedrive Button 113

18.1.2. Using the Freedrive Button on the Move Tab Screen 113

18.2. Enabling Freedrive: 3PE Teach Pendant 113

19.Backdrive 114

19.1. Enabling Backdrive: Standard Teach Pendant 114

19.2. Enabling Backdrive: 3PE Teach Pendant 114

20.Operational Mode Selection 115

20.1. Operational Modes 115

20.2. Three-Position Enabling Device 117

20.2.1. Manual High Speed 117

21.Safety Configuration 119

21.1. Safety Settings Basics 119

21.1.1. Accessing Safety Configuration 119

21.2. Setting a Safety Password 120

21.3. Changing the Safety Configuration 120

21.4. Applying New Safety Configuration 121

21.5. Safety Checksum 121

21.6. Safety Menu Settings 121

21.7. Robot Limits 121

21.8. Safety Modes 123

21.9. Tolerances 124

21.10. Joint Limits 124

21.11. Planes 125

21.11.1. Modes 125

21.11.2. Configuring Safety Planes 126

21.11.3. Elbow 127

21.11.4. Color Codes 127

21.12. Freedrive 128

21.12.1. Using the Freedrive Button 128

21.13. Backdrive 128

21.13.1. Enabling Backdrive 128

21.14. Tool Position 129

21.15. Tool Direction 130

21.15.1. Limit Properties 131

21.15.2. Tool Properties 132

UR5e User Manual

21.16. I/O 132

21.16.1. Input Signals 132

21.16.2. Output Signals 133

21.16.3. OSSD Safety Signals 134

21.17. Hardware 135

21.17.1. Selecting Available Hardware 135

21.18. Safe Home Position 135

21.18.1. Syncing from Home 136

21.19. Safe Home Output 136

21.19.1. Defining Safe Home Output 136

21.20. Edit Safe Home 136

21.20.1. Editing Safe Home 137

22.Run Tab 139

22.1. Program 139

22.2. Variables 139

22.3. Robot Age 140

22.4. Move Robot into Position 140

22.4.1. Accessing the Move Robot into Position Screen 140

22.4.2. Move robot to: 141

22.4.3. Manual 141

23.Program Tab 143

23.1. Program Tree 143

23.1.1. Program Execution Indication 144

23.1.2. Search Button 144

23.2. Program Tree Toolbar 144

23.2.1. Undo/Redo Buttons 144

23.2.2. Move Up & Down 144

23.2.3. Cut 144

23.2.4. Copy 145

23.2.5. Paste 145

23.2.6. Delete 145

23.2.7. Suppress 145

23.2.8. Command: Suppress 145

23.3. Expression Editor 145

23.4. Command: Variables Initialization 146

23.5. Starting a Program from a Selected Node 147

User Manual UR5e

23.5.1. Using Play from Selection 147

23.6. Using Breakpoints in a Program 147

23.7. Single Step in a Program 149

23.8. Command Tab 149

23.9. Graphics Tab 150

23.10. Variables Tab 151

23.11. Basic Program Nodes 152

23.11.1. Move 152

23.11.2. Fixed Waypoint 155

23.11.3. Relative Waypoint 160

23.11.4. Variable Waypoint 161

23.11.5. Direction 162

23.11.6. Until 163

23.11.7. Until-Tool Contact 163

23.11.8. Wait 165

23.11.9. Set 166

23.11.10. Popup 166

23.11.11. Halt 167

23.11.12. Comment 168

23.11.13. Folder 168

23.11.14. Set Payload 169

23.12. Advanced Program Nodes 170

23.12.1. Loop 170

23.12.2. If 170

23.12.3. SubProgram 172

23.12.4. Assignment 173

23.12.5. Script 173

23.12.6. Event 174

23.12.7. Thread 175

23.12.8. Switch 175

23.12.9. Timer 176

23.12.10. Home 177

23.13. Templates 177

23.13.1. Palletizing 177

23.13.2. Seek 183

23.13.3. Force 187

23.13.4. Force value selection 189

UR5e User Manual

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