Universal Robots UR3, CB3 User Manual

User Manual

UR3/CB3

Original instructions (en)

User Manual

UR3/CB3

Version 3.1 (rev. 17782)

Original instructions (en)

Serial number UR3:

Serial number CB3:

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

duced in whole or in part without prior written approval of Universal Robots A/S. The informa-

tion herein is subject to change without notice and should not be construed as a commitment by

Universal Robots A/S. This manual is periodically reviewed and revised.

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

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

UR3/CB3 ii Version 3.1 (rev. 17782)

Contents

Preface ix

What do the Boxes Contain . . . . . . . . . . . . . . . . . . . . . . . . ix

Important Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . x

How to Read This Manual . . . . . . . . . . . . . . . . . . . . . . . . x

Where to Find More Information . . . . . . . . . . . . . . . . . . . . . . x

I Hardware Installation Manual I-1

1 Safety I-3

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-3

1.2 Validity and Responsibility . . . . . . . . . . . . . . . . . . . . . . I-3

1.3 Limitation of Liability. . . . . . . . . . . . . . . . . . . . . . . . I-4

1.4 Warning Symbols in this Manual . . . . . . . . . . . . . . . . . . . . I-4

1.5 General Warnings and Cautions . . . . . . . . . . . . . . . . . . . . I-5

1.6 Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . I-7

1.7 Risk Assessment. . . . . . . . . . . . . . . . . . . . . . . . . . I-7

1.8 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . I-8

1.9 Movement Without Drive Power. . . . . . . . . . . . . . . . . . . . I-8

2 Transportation I-11

3 Mechanical Interface I-13

3.1 Workspace of the Robot . . . . . . . . . . . . . . . . . . . . . . . I-13

3.2 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-13

4 Electrical Interface I-19

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . I-19

4.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . I-19

4.3 Controller I/O . . . . . . . . . . . . . . . . . . . . . . . . . . I-21

4.3.1 Common speciﬁcations for all digital I/O . . . . . . . . . . . . . . I-21

4.3.2 Safety I/O . . . . . . . . . . . . . . . . . . . . . . . . . I-22

4.3.3 General purpose digital I/O. . . . . . . . . . . . . . . . . . . I-26

4.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . I-26

4.3.5 Communication with other machines or PLCs . . . . . . . . . . . . I-27

4.3.6 General purpose analog I/O. . . . . . . . . . . . . . . . . . . I-27

4.3.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . I-29

4.4 Tool I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-30

4.4.1 Tool Digital Outputs . . . . . . . . . . . . . . . . . . . . . I-31

4.4.2 Tool Digital Inputs . . . . . . . . . . . . . . . . . . . . . . I-32

4.4.3 Tool Analog Inputs . . . . . . . . . . . . . . . . . . . . . . I-32

Version 3.1 (rev. 17782)

iii UR3/CB3

4.5 Ethernet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-33

4.6 Mains connection . . . . . . . . . . . . . . . . . . . . . . . . . I-34

4.7 Robot connection . . . . . . . . . . . . . . . . . . . . . . . . . I-35

5 Safety-related Functions and Interfaces I-37

5.1 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . I-37

5.2 Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . I-39

5.3 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . I-39

5.3.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . I-39

5.3.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . I-41

6 Maintenance and Repair I-43

6.1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . I-43

7 Disposal and Environment I-45

8 Certiﬁcations I-47

8.1 Third Party Certiﬁcations . . . . . . . . . . . . . . . . . . . . . . I-47

8.2 Declarations According to EU directives . . . . . . . . . . . . . . . . . I-47

9 Warranties I-49

9.1 Product Warranty . . . . . . . . . . . . . . . . . . . . . . . . . I-49

9.2 Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-49

A Stopping Time and Stopping Distance I-51

A.1 CATEGORY 0 stopping distances and times. . . . . . . . . . . . . . . . I-51

B Declarations and Certiﬁcates I-53

B.1 CE Declaration of Incorporation (original) . . . . . . . . . . . . . . . . I-53

B.2 Safety System Certiﬁcate. . . . . . . . . . . . . . . . . . . . . . . I-54

B.3 Environmental Test Certiﬁcate. . . . . . . . . . . . . . . . . . . . . I-55

B.4 EMC Test Certiﬁcate . . . . . . . . . . . . . . . . . . . . . . . . I-56

C Applied Standards I-57

D Technical Speciﬁcations I-63

II PolyScope Manual II-1

10 Introduction II-3

10.1 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . II-3

10.1.1 Installing the Robot Arm and Control Box. . . . . . . . . . . . . . II-3

10.1.2 Turning the Control Box On and Off . . . . . . . . . . . . . . . . II-4

10.1.3 Turning the Robot Arm On and Off . . . . . . . . . . . . . . . . II-4

10.1.4 Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . II-4

10.1.5 The First Program . . . . . . . . . . . . . . . . . . . . . . II-5

10.2 PolyScope Programming Interface . . . . . . . . . . . . . . . . . . . II-6

10.3 Welcome Screen . . . . . . . . . . . . . . . . . . . . . . . . . . II-8

10.4 Initialization Screen . . . . . . . . . . . . . . . . . . . . . . . . II-9

UR3/CB3 iv Version 3.1 (rev. 17782)

11 On-screen Editors II-11

11.1 On-screen Keypad . . . . . . . . . . . . . . . . . . . . . . . . . II-11

11.2 On-screen Keyboard . . . . . . . . . . . . . . . . . . . . . . . . II-12

11.3 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . II-12

11.4 Pose Editor Screen . . . . . . . . . . . . . . . . . . . . . . . . . II-13

12 Robot Control II-17

12.1 Move Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-17

12.1.1 Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . II-17

12.1.2 Feature and Tool Position. . . . . . . . . . . . . . . . . . . . II-18

12.1.3 Move Tool . . . . . . . . . . . . . . . . . . . . . . . . . II-18

12.1.4 Move Joints . . . . . . . . . . . . . . . . . . . . . . . . . II-18

12.1.5 Freedrive . . . . . . . . . . . . . . . . . . . . . . . . . II-18

12.2 I/O Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-19

12.3 MODBUS client I/O . . . . . . . . . . . . . . . . . . . . . . . . II-20

12.4 AutoMove Tab . . . . . . . . . . . . . . . . . . . . . . . . . . II-20

12.5 Installation → Load/Save . . . . . . . . . . . . . . . . . . . . . . II-22

12.6 Installation → TCP Conﬁguration . . . . . . . . . . . . . . . . . . . II-23

12.6.1 Adding, modifying and removing TCPs . . . . . . . . . . . . . . II-23

12.6.2 The default and the active TCP . . . . . . . . . . . . . . . . . . II-23

12.6.3 Teaching TCP position . . . . . . . . . . . . . . . . . . . . . II-24

12.6.4 Teaching TCP orientation. . . . . . . . . . . . . . . . . . . . II-25

12.6.5 Payload . . . . . . . . . . . . . . . . . . . . . . . . . . II-25

12.6.6 Center of gravity . . . . . . . . . . . . . . . . . . . . . . . II-25

12.7 Installation → Mounting. . . . . . . . . . . . . . . . . . . . . . . II-26

12.8 Installation → I/O Setup . . . . . . . . . . . . . . . . . . . . . . II-27

12.9 Installation → Safety . . . . . . . . . . . . . . . . . . . . . . . . II-28

12.10 Installation → Variables . . . . . . . . . . . . . . . . . . . . . . . II-28

12.11 Installation → MODBUS client I/O Setup . . . . . . . . . . . . . . . . II-29

12.12 Installation → Features . . . . . . . . . . . . . . . . . . . . . . . II-32

12.13 Conveyor Tracking Setup . . . . . . . . . . . . . . . . . . . . . . II-35

12.14 Installation → Default Program . . . . . . . . . . . . . . . . . . . . II-36

12.14.1 Loading a Default Program . . . . . . . . . . . . . . . . . . . II-37

12.14.2 Starting a Default Program . . . . . . . . . . . . . . . . . . . II-37

12.14.3 Auto Initialization . . . . . . . . . . . . . . . . . . . . . . II-37

12.15 Log Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-38

12.16 Load Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . II-38

12.17 Run Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-41

13 Programming II-43

13.1 New Program . . . . . . . . . . . . . . . . . . . . . . . . . . II-43

13.2 Program Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . II-44

13.2.1 Program Tree . . . . . . . . . . . . . . . . . . . . . . . . II-44

13.2.2 Program Execution Indication . . . . . . . . . . . . . . . . . . II-45

13.2.3 Undo/Redo Buttons . . . . . . . . . . . . . . . . . . . . . II-45

13.2.4 Program Dashboard. . . . . . . . . . . . . . . . . . . . . . II-45

Version 3.1 (rev. 17782)

v UR3/CB3

13.3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-46

13.4 Command: Empty . . . . . . . . . . . . . . . . . . . . . . . . . II-47

13.5 Command: Move . . . . . . . . . . . . . . . . . . . . . . . . . II-48

13.6 Command: Fixed Waypoint . . . . . . . . . . . . . . . . . . . . . II-51

13.7 Command: Relative Waypoint. . . . . . . . . . . . . . . . . . . . . II-53

13.8 Command: Variable Waypoint . . . . . . . . . . . . . . . . . . . . II-54

13.9 Command: Wait. . . . . . . . . . . . . . . . . . . . . . . . . . II-55

13.10 Command: Set . . . . . . . . . . . . . . . . . . . . . . . . . . II-55

13.11 Command: Popup . . . . . . . . . . . . . . . . . . . . . . . . . II-56

13.12 Command: Halt . . . . . . . . . . . . . . . . . . . . . . . . . . II-57

13.13 Command: Comment . . . . . . . . . . . . . . . . . . . . . . . . II-57

13.14 Command: Folder . . . . . . . . . . . . . . . . . . . . . . . . . II-58

13.15 Command: Loop . . . . . . . . . . . . . . . . . . . . . . . . . II-58

13.16 Command: SubProgram . . . . . . . . . . . . . . . . . . . . . . . II-59

13.17 Command: Assignment . . . . . . . . . . . . . . . . . . . . . . . II-60

13.18 Command: If . . . . . . . . . . . . . . . . . . . . . . . . . . . II-61

13.19 Command: Script . . . . . . . . . . . . . . . . . . . . . . . . . II-62

13.20 Command: Event . . . . . . . . . . . . . . . . . . . . . . . . . II-63

13.21 Command: Thread . . . . . . . . . . . . . . . . . . . . . . . . . II-64

13.22 Command: Pattern . . . . . . . . . . . . . . . . . . . . . . . . . II-64

13.23 Command: Force . . . . . . . . . . . . . . . . . . . . . . . . . II-66

13.24 Command: Pallet . . . . . . . . . . . . . . . . . . . . . . . . . II-69

13.25 Command: Seek . . . . . . . . . . . . . . . . . . . . . . . . . . II-70

13.26 Command: Start/Stop Conveyor Tracking . . . . . . . . . . . . . . . . II-73

13.27 Command: Suppress . . . . . . . . . . . . . . . . . . . . . . . . II-74

13.28 Graphics Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . II-74

13.29 Structure Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . II-75

13.30 Variables Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . II-76

13.31 Command: Variables Initialization . . . . . . . . . . . . . . . . . . . II-77

14 Setup Screen II-79

14.1 Language and Units . . . . . . . . . . . . . . . . . . . . . . . . II-80

14.2 Update Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . II-81

14.3 Set Password . . . . . . . . . . . . . . . . . . . . . . . . . . . II-82

14.4 Calibrate Screen . . . . . . . . . . . . . . . . . . . . . . . . . . II-83

14.5 Setup Network . . . . . . . . . . . . . . . . . . . . . . . . . . II-83

14.6 Set Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-84

15 Safety Conﬁguration II-85

15.1 Changing the Safety Conﬁguration . . . . . . . . . . . . . . . . . . . II-86

15.2 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . II-86

15.3 Tolerances . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-87

15.4 Safety Checksum . . . . . . . . . . . . . . . . . . . . . . . . . II-88

15.5 Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . II-88

15.6 Freedrive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . II-89

15.7 Password Lock . . . . . . . . . . . . . . . . . . . . . . . . . . II-89

15.8 Apply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-89

UR3/CB3 vi Version 3.1 (rev. 17782)

15.9 General Limits . . . . . . . . . . . . . . . . . . . . . . . . . . II-90

15.10 Joint Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . II-93

15.11 Boundaries. . . . . . . . . . . . . . . . . . . . . . . . . . . . II-94

15.11.1 Selecting a boundary to conﬁgure. . . . . . . . . . . . . . . . . II-95

15.11.2 3D visualization . . . . . . . . . . . . . . . . . . . . . . . II-95

15.11.3 Safety plane conﬁguration . . . . . . . . . . . . . . . . . . . II-96

15.11.4 Tool Boundary conﬁguration . . . . . . . . . . . . . . . . . . II-99

15.12 Safety I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-101

Glossary II-103

Index II-105

Version 3.1 (rev. 17782)

vii UR3/CB3

UR3/CB3 viii Version 3.1 (rev. 17782)

Preface

Congratulations on the purchase of your new Universal Robot, UR3.

The robot can be programmed to move a tool, and communicate with other ma-

chines using electrical signals. It is an arm composed of extruded aluminum tubes

and joints. Using our patented programming interface, PolyScope, it is easy to pro-

gram the robot to move the tool along a desired trajectory.

What do the Boxes Contain

When you order a complete robot, you receive two boxes. One contains the the

robot arm and the following items are included in the other one:

• Control box with teach pendant;

• Mounting bracket for the control box;

• Mounting bracket for the teach pendant;

• Key for opening the control box;

• Mains cable compatible with your region;

• Tool cable;

• Stylus pen with laser;

• UR production test certiﬁcate;

Version 3.1 (rev. 17782)

• This manual.

ix UR3/CB3

Important Safety Notice

The robot is partly completed machinery (see 8.2) and as such a risk assessment is

required for each installation of the robot. It is particularly important that all of the

safety instructions in chapter 1 are followed.

How to Read This Manual

This manual contains instructions for installing and using the robot. It consists of

the following parts:

Hardware Installation Manual: The mechanical and electrical installation of the robot.

PolyScope Manual: Programming of the robot.

This manual is intended for the integrator who is expected to have a basic level of

mechanical and electrical training. It is also helpful, though not necessary, to be

familiar with elementary concepts of programming. No special knowledge about

robots in general or Universal Robots in particular is required.

Where to Find More Information

The support website (http://support.universal- robots.com/), available

to all UR distributors, contains additional information, such as:

• Other language versions of this manual;

• PolyScope Manual updates after the PolyScope is upgraded to a new version.

• The Service Manual with instructions for troubleshooting, maintenance and re-

pair of the robot.

• The Script Manual for advanced users.

UR3/CB3 x Version 3.1 (rev. 17782)

Part I

Hardware Installation Manual

1 Safety

1.1 Introduction

This chapter contains important safety information, which must be read and un-

derstood by the integrator of UR robots.

The ﬁrst subsections in this chapter are more general and the later subsections con-

tain more speciﬁc engineering data relevant for setting up and programming the

robot.

It is essential that all assembly instructions and guidanceprovided in other chapters

and parts of this manual are observed and followed.

Special attention shall be paid to text associated with warning symbols. See Chap-

ter 5 for detailed descriptions of the safety-related functions and interfaces.

1.2 Validity and Responsibility

The information does not cover how to design, install and operate a complete robot

application, nor does it cover all peripheral equipment that can inﬂuence the safety

of the complete system. The complete system must be designed and installed in

accordance with the safety requirements set forth in the standards and regulations

of the country where the robot is installed.

The integrators of UR robots are responsible for ensuring that the applicable safety

laws and regulations in the country concerned are observed and that any signiﬁcant

hazards in the complete robot application are eliminated.

This includes, but is not limited to:

• Making a risk assessment for the complete system;

• Interfacing other machines and additional safety devices if deﬁned by the risk

assessment;

• Setting up the appropriate safety settings in the software;

• Ensuring that the user will not modify any safety measures;

• Validating that the total system is designed and installed correctly;

• Specifying instructions for use;

• Marking the robot installation with relevant signs and contact information of

the integrator;

• Collecting all documentation in a technical ﬁle.

Guidance on how to ﬁnd and read applicable standards and laws is provided on

http://support.universal-robots.com/

Version 3.1 (rev. 17782)

I-3 UR3/CB3

1.3 Limitation of Liability

Any information given in this manual regarding safety must not be construed as

a warranty by UR that the industrial manipulator will not cause injury or damage

even if all safety instructions are complied with.

1.4 Warning Symbols in this Manual

The table below deﬁnes the captions specifying the danger levels used throughout

this manual. The same warning signs are used on the product.

DANGER:

This indicates an imminently hazardous electrical situation which,

if not avoided, could result in death or serious injury.

DANGER:

This indicates an imminently hazardous situation which, if not

avoided, could result in death or serious injury.

1.4 Warning Symbols in this Manual

WARNING:

This indicates a potentially hazardous electrical situation which, if

not avoided, could result in injury or major damage to the equip-

ment.

WARNING:

This indicates a potentially hazardous situation which, if not

avoided, could result in injury or major damage to the equipment.

WARNING:

This indicates a potentially hazardous hot surface which, if

touched, could result in injury.

CAUTION:

This indicates a situation which, if not avoided, could result in

damage to the equipment.

UR3/CB3 I-4 Version 3.1 (rev. 17782)

1.5 General Warnings and Cautions

This section contains some general warnings and cautions. Some of which are re-

peated or explained in different parts of the manual. Other warnings and cautions

are present throughout the manual.

DANGER:

Make sure to install the robot and all electrical equipment accord-

ing to the speciﬁcations and warnings found in the Chapters 3 and

WARNING:

1. Make sure the robot arm and tool are properly and securely

bolted in place.

2. Make sure the robot arm has ample space to operate freely.

3. Make sure that safety measures and/or robot safety conﬁgu-

ration parameters have been set up to protect both program-

mers, operators and bystanders, as deﬁned in the risk assess-

ment.

4. Do not wear loose clothing or jewellery when working with

the robot. Make sure long hair is tied back when working

with the robot.

5. Never use the robot if it is damaged.

6. If the software prompts a fatal error, immediately activate

emergency stop, write down the conditions that led to the er-

ror, ﬁnd the corresponding error codes on the log screen, and

contact your supplier.

7. Do not connect any safety equipment to normal I/O. Use

safety-related interfaces only.

8. Make sure to use the correct installation settings (e.g. Robot

mounting angle, weight in TCP, TCP offset, safety conﬁgura-

tion). Save and load the installations ﬁle along with the pro-

gram.

9. The freedrive function (Impedance/back-drive) shall only

be used in installations where the risk assessment allows

it. Tools and obstacles shall not have sharp edges or pinch

points. Make sure that all people keep their heads and faces

outside the reach of the robot.

Version 3.1 (rev. 17782)

10. Be aware of robot movement when using the teach pendant.

11. Do not enter the safety range of the robot or touch the robot

when the system is in operation.

I-5 UR3/CB3

1.5 General Warnings and Cautions

11. Collisions can release high portions of kinetic energy, which

are signiﬁcantly higher at high speeds and with high pay-

loads. (Kinetic Energy =

Mass · Speed2)

12. Combining different machines might increase hazards or cre-

ate new hazards. Always make an overall risk assessment for

the complete installation. When different safety and emer-

gency stop performance levels are needed, always choose the

highest performance level. Always read and understand the

manuals for all equipment used in the installation.

13. Never modify the robot. A modiﬁcation might create haz-

ards that are unforeseen by the integrator. All authorized

reassembling shall be done according to the newest version

of all relevant service manuals. UNIVERSAL ROBOTS DIS-

CLAIMS ANY LIABILITY IF THE PRODUCT IS CHANGED

OR MODIFIED IN ANY WAY.

14. If the robot is purchased with an extra module (e.g. eu-

romap67 interface) then look up that module in the respective

manual.

WARNING:

1. The robot and controller box generate heat during operation.

Do not handle or touch the robot while in operation or imme-

diately after operation. To cool the robot down, power off the

robot and wait one hour.

2. Never stick ﬁngers behind the internal cover of the controller

box.

CAUTION:

1. When the robot is combined with or working with machines

capable of damaging the robot, then it is highly recom-

mended to test all functions and the robot program sepa-

rately. It is recommended to test the robot program using tem-

porary waypoints outside the workspace of other machines.

Universal Robots cannot be held responsible for any damages

caused to the robot or to other equipment due to program-

ming errors or malfunctioning of the robot.

2. Do not expose the robot to permanent magnetic ﬁelds. Very

strong magnetic ﬁelds can damage the robot.

UR3/CB3 I-6 Version 3.1 (rev. 17782)

1.6 Intended Use

UR robots are industrial and intended for handling tools and ﬁxtures, or for pro-

cessing or transferring components or products. For details about the environmen-

tal conditions under which the robot should operate, see appendices B and D.

UR robots are equipped with special safety-related features, which are purposely

designed for collaborative operation, where the robot operates without fences and/or

together with a human.

Collaborative operation is only intended for non-hazardous applications, where

the complete application, including tool, work piece, obstacles and other machines,

is without any signiﬁcant hazards according to the risk assessment of the speciﬁc

application.

Any use or application deviating from the intended use is deemed to be impermis-

sible misuse. This includes, but is not limited to:

• Use in potentially explosive environments;

• Use in medical and life critical applications;

• Use before performing a risk assessment;

• Use where the rated performance levels are insufﬁcient;

• Use where the reaction times of the safety functions are insufﬁcient;

• Use as a climbing aid;

• Operation outside the permissible operating parameters.

1.7 Risk Assessment

One of the most important things that an integrator needs to do is to make a risk

assessment. The robot itself is partly completed machinery, as the safety of the

robot installation depends on how the robot is integrated (E.g. tool, obstacles and

other machines).

It is recommended that the integrator uses guidelines in ISO 12100 and ISO 10218-2

to conduct the risk assessment.

The risk assessment shall consider two scenarios:

• Teaching the robot while developing the robot installation;

• Normal operation of the robot installation.

If the robot is installed in a non-collaborative installation (E.g. when using a haz-

ardous tool) the risk assessment might conclude that the integrator needs to connect

additional safety devices (E.g. an enable device) to protect him while program-

ming.

Universal Robots has identiﬁed the potential signiﬁcant hazards listed below as

hazards which must be considered by the integrator. Note that other signiﬁcant

hazards might be present in a speciﬁc robot installation.

Version 3.1 (rev. 17782)

I-7 UR3/CB3

1. Entrapment of ﬁngers between robot foot and base (joint 0).

2. Entrapment of ﬁngers between wrist 1 and wrist 2 (joint 3 and joint 4).

3. Penetration of skin by sharp edges and sharp points on tool or tool connector.

4. Penetration of skin by sharp edges and sharp points on obstacles near the

robot track.

5. Bruising due to stroke from the robot.

6. Sprain or bone fracture due to strokes between a heavy payload and a hard

surface.

7. Consequences due to loose bolts that hold the robot arm or tool.

8. Items falling out of tool, e.g. due to a poor grip or power interruption.

9. Mistakes due to different emergency stop buttons for different machines.

Information on stopping times and stopping distances are found in appendix A.

1.8 Emergency Stop

Activate the emergency stop button to immediately stop all robot motion.

1.9 Movement Without Drive Power

Emergency stop shall not be used as a risk reduction measure, but as a secondary

protective device.

The risk assessment of the robot application shall conclude if more emergency

stop buttons must be connected. Emergency stop buttons should comply with IEC

60947-5-5, see more in section 4.3.2.

1.9 Movement Without Drive Power

In the unlikely event of an emergency situation where one or more robot joints

need to be moved and robot power is either not possible or unwanted, there are

two different ways to force movements of the robot joints:

1. Forced back-driving: Force a joint to move by pushing or pulling the robot arm

hard (500 N). Each joint brake has a friction clutch which enables movement

during high forced torque.

2. Manual brake release (only for Base, Shoulder and Elbow joints): Remove the

joint cover by removing the few M3 screws that ﬁx it. Release the brake by

pushing the plunger on the small electromagnet as shown in the picture below.

WARNING:

1. Moving the robot arm manually is intended for urgent emer-

gencies only and might damage the joints.

2. If the brake is released manually, gravitational pull can cause

the robot arm to fall. Always support the robot arm, tool and

work item when releasing the brake.

UR3/CB3 I-8 Version 3.1 (rev. 17782)

1.9 Movement Without Drive Power

Version 3.1 (rev. 17782)

I-9 UR3/CB3

1.9 Movement Without Drive Power

UR3/CB3 I-10 Version 3.1 (rev. 17782)

2 Transportation

Transport the robot in the original packaging. Save the packaging material in a dry

place; you may need to pack down and move the robot later on.

Lift both tubes of the robot arm at the same time when moving it from the pack-

aging to the installation place. Hold the robot in place until all mounting bolts are

securely tightened at the base of the robot.

The controller box shall be lifted by the handle.

WARNING:

1. Make sure not to overloadyour back or other bodyparts when

the equipment is lifted. Use proper lifting equipment. All

regional and national guidelines for lifting shall be followed.

Universal Robots cannot be held responsible for any damage

caused by transportation of the equipment.

2. Make sure to mount the robot according to the mounting in-

structions in chapter 3.

Version 3.1 (rev. 17782)

I-11 UR3/CB3

UR3/CB3 I-12 Version 3.1 (rev. 17782)

3 Mechanical Interface

The robot consists essentially of six robot joints and two aluminum tubes, connect-

ing the base with the tool of the robot. The robot permits the tool to be translated

and rotated within the workspace. The next section describes the basics of mount-

ing the various parts of the robot system.

Electrical installation instructions in chapter 4 must be observed.

3.1 Workspace of the Robot

The workspace of the UR3 robot extends 500 mm from the base joint. 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. Moving the tool close to the cylin-

drical volume should be avoided if possible, because it causes the joints to move

fast even though the tool is moving slowly, causing the robot to work inefﬁciently

and the conduction of the risk assessment to be difﬁcult.

3.2 Mounting

Robot Arm The robot arm is mounted using four M6 bolts, using the four 6.6mm

holes on the base. It is recommended to tighten these bolts with 9 N m torque. If

very accurate repositioning of the robot arm is desired, two Ø5 holes are provided

for use with a pin. Also, an accurate base counterpart can be purchased as an

accessory. Figure 3.1 shows where to drill holes and mount the screws.

The robot connector cable can be mounted through the side or through the bottom

of the base.

Version 3.1 (rev. 17782)

Front Tilted

I-13 UR3/CB3

3.2 Mounting

WARNING:

Remember to insert the rubber plugs in all mounting holes in the

robot base to avoid entrapment of ﬁngers.

Mount the robot on a sturdy surface strong enough to withstand at least ten times

the full torque of the base joint and at least ﬁve times the weight of the robot arm.

Furthermore the surface shall be vibration free.

If the robot is mounted on a linear axis or a moving platform then the acceleration

of the moving mounting base shall be very low. A high acceleration might cause

the robot to stop, thinking it bumped into something.

DANGER:

Make sure the robot arm is properly and securely bolted in place.

The mounting surface shall be sturdy.

CAUTION:

If the robot is bathed in water over an extended time period it

might be damaged. The robot should not be mounted in water

or in a wet environment.

Tool The robot tool ﬂange has four M6 thread holes for attaching a tool to the

robot. The holes need to be tightened with 9 N m. If very accurate repositioning

of the tool is desired, the Ø6 hole is provided for use with a pin. Figure 3.2 shows

where to drill holes and mount the screws.

DANGER:

1. Make sure the tool is properly and securely bolted in place.

2. Make sure that the tool is constructed such that it cannot cre-

ate a hazardous situation by dropping a part unexpectedly.

Control Box The control box can be hung on a wall, or it can be placed on the

ground. A clearance of 50 mm on each side is needed for sufﬁcient airﬂow. Extra

brackets for mounting can be bought.

Teach Pendant The teach pendant can be hung on a wall or on the control box.

Extra brackets for mounting the teach pendant can be bought. Make sure that no

one can trip over the cable.

UR3/CB3 I-14 Version 3.1 (rev. 17782)

3.2 Mounting

Figure 3.1: Holes for mounting the robot. Use four M6 bolts. All measurements are in mm.

Version 3.1 (rev. 17782)

I-15 UR3/CB3

3.2 Mounting

Figure 3.2: The tool output ﬂange, ISO 9409-1-50-4-M6. This is where the tool is mounted at the tip of the robot. All measures are in mm.

UR3/CB3 I-16 Version 3.1 (rev. 17782)

3.2 Mounting

DANGER:

1. Make sure that the control box, teach pendant, and cables do

not come into contact with liquids. A wet control box could

cause death.

2. The control box and teach pendant must not be exposed to

dusty or wet environments that exceed IP20 rating. Pay spe-

cial attention to environments with conductive dust.

Version 3.1 (rev. 17782)

I-17 UR3/CB3

3.2 Mounting

UR3/CB3 I-18 Version 3.1 (rev. 17782)

+ 151 hidden pages

Universal Robots UR3, CB3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

What do the Boxes Contain

1 Safety

1.1 Introduction

1.2 Validity and Responsibility

1.4 Warning Symbols in this Manual

1.7 Risk Assessment

1.8 Emergency Stop

1.9 Movement Without Drive Power

2 Transportation

3 Mechanical Interface

3.1 Workspace of the Robot

3.2 Mounting