User Manual
August 1, 2013
Robot:
UR10
Euromap67
SN UR10:
SN CB2:
The information contained herein is the property of Universal Robots A/S and
shall not be reproduced in whole or in part without prior written approval of
Universal Robots A/S. The information herein is subject to change without notice
and should not be construed as a commitment by Universal Robots A/S. This
manual is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in
this document.
Copyrightc2012 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
All Rights Reserved
2 UR10
Contents
1 Getting started 5
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.1 The Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.2 Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.3 Safety Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Turning On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.1 Turning on the Controller Box . . . . . . . . . . . . . . . . . . . . 7
1.2.2 Turning on the Robot . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.3 Initializing the Robot . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.4 Shutting Down the Robot . . . . . . . . . . . . . . . . . . . . . . 8
1.2.5 Shutting Down the Controller Box . . . . . . . . . . . . . . . . . 8
1.3 Quick start, Step by Step . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Mounting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.1 The Workspace of the Robot . . . . . . . . . . . . . . . . . . . . 10
1.4.2 Mounting the Robot . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.3 Mounting the Tool . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.4 Mounting the Controller Box . . . . . . . . . . . . . . . . . . . . 13
1.4.5 Mounting the Teach Pendant . . . . . . . . . . . . . . . . . . . 13
1.4.6 Connecting the Robot Cable . . . . . . . . . . . . . . . . . . . 13
1.4.7 Connecting the Mains Cable . . . . . . . . . . . . . . . . . . . 13
2 Electrical Interface 15
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Important notices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 The Safety Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.1 The Emergency Stop Interface . . . . . . . . . . . . . . . . . . . 16
2.3.2 The Safeguard Interface . . . . . . . . . . . . . . . . . . . . . . 19
2.3.3 Automatic continue after safeguard stop . . . . . . . . . . . . 20
2.4 Controller I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.4.1 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4.2 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.4.3 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4.4 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.5 Tool I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5.1 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.5.2 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.5.3 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3 Safety 31
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.2 Statutory documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3
Contents
3.4 Emergency situations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4 Warranties 35
4.1 Product Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5 Declaration of Incorporation 37
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.2 Product manufacturer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.3 Person Authorised to Compile the Technical Documentation . . . . 37
5.4 Description and Identification of Product . . . . . . . . . . . . . . . . 37
5.5 Essential Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.6 National Authority Contact Information . . . . . . . . . . . . . . . . . 40
5.7 Important Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.8 Place and Date of the Declaration . . . . . . . . . . . . . . . . . . . . 40
5.9 Identity and Signature of the Empowered Person . . . . . . . . . . . 41
A Euromap67 Interface 43
A.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
A.1.1 Euromap67 standard . . . . . . . . . . . . . . . . . . . . . . . . 44
A.1.2 CE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
A.2 Robot and IMM integration . . . . . . . . . . . . . . . . . . . . . . . . . 44
A.2.1 Emergency stop and safeguard stop . . . . . . . . . . . . . . . 44
A.2.2 Connecting a MAF light guard . . . . . . . . . . . . . . . . . . . 44
A.2.3 Mounting the robot and tool . . . . . . . . . . . . . . . . . . . . 45
A.2.4 Using the robot without an IMM . . . . . . . . . . . . . . . . . . 45
A.2.5 Euromap12 to euromap67 conversion . . . . . . . . . . . . . . 45
A.3 GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
A.3.1 Euromap67 program template . . . . . . . . . . . . . . . . . . . 46
A.3.2 I/O overview and troubleshooting . . . . . . . . . . . . . . . . . 47
A.3.3 Program structure functionality . . . . . . . . . . . . . . . . . . 49
A.3.4 I/O action and wait . . . . . . . . . . . . . . . . . . . . . . . . . 53
A.4 Installing and uninstalling the interface . . . . . . . . . . . . . . . . . . 53
A.4.1 Installing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
A.4.2 Uninstalling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
A.5 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
A.5.1 MAF light guard interface . . . . . . . . . . . . . . . . . . . . . . 55
A.5.2 Emergency stop, safety devices and MAF signals . . . . . . . 55
A.5.3 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
A.5.4 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
B Certifications 57
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4 UR10
Chapter 1
Getting started
1.1 Introduction
Congratulations on the purchase of your new Universal Robot, UR10.
The robot is a machine that can be programmed to move a tool, and communicate with other machines using electrical signals. Using our patented programming interface, PolyScope, it is easy to program the robot to move the tool
along a desired trajectory. PolyScope is described in the PolyScope Manual.
The reader of this manual is expected to be technically minded, to be familiar 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.
5
1.1. Introduction
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
(1300mm 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 interface
PolyScope, described in the PolyScope 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 is 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 a 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 ’Teach’ button on the screen (see
the PolyScope manual). 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 freedom 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 certain distance of the waypoint, the robot can decide to deviate from the path.
A blend radius of 5-10 cm usually gives good results.
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6 UR10
1.2. Turning On and Off
Features
Besides moving through waypoints, the program can send I/O signals to other
machines at certain points in the robot’s 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. Chapter 3.1 describes how to perform a safety evaluation.
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 power button, at the front side
of the teach pendant. When the controller box is turned on, a lot of text will
appear on the screen. After about 20 seconds, the Universal Robot’s Logo will
appear, with the text ’Loading’. After around 40 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 emergency stop buttons are not activated. Turning the robot on is done at the initialization screen, by touching the ’ON’ button at the screen, and then pressing
’Start’. When a robot is started, a noise can be heard as the brakes unlock.
After the robot has powereded up, 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 exact position, in order to do so the joints need to move. The amount of motion
needed depends on the joint position and type. Small joints need to move between 22.5◦and 45◦, large joints need to move half as much, the direction of
rotation is unimportant. The Initialization screen, shown in figure 1.1, gives access to manual and semi-automatic driving of the robot’s joints. The robot cannot automatically avoid collision with itself or the surrounds during this process.
Therefore, 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.
A more detailed description of the initialization screen is found in the PolyScope
manual.
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1.3. Quick start, Step by Step
Figure 1.1: The initialization screen
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
automatically turned off when the controller box is shutting down.
1.2.5 Shutting Down the Controller Box
Shut down the system by pressing the green power button on the screen, or by
using the ’Shut Down’ button on the welcome screen.
Shutting down by pulling the power cord out of the wall socket may cause
corruption of the robot’s file system, which may result in robot malfunction.
1.3 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.
5. Plug in the mains plug of the controller box.
6. Press the Emergency Stop button on the front side of the teach pendant.
7. Press the power button on the teach pendant.
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1.3. Quick start, Step by Step
8. Wait a minute while the system is starting up, displaying text on the touch
screen.
9. When the system is ready, a popup will be shown on the touch screen,
stating that the emergency stop button is pressed.
10. Touch the OK button at the popup.
11. Unlock the emergency stop buttons. The robot state then changes from
’Emergency Stopped’ to ’Robot Power Off’.
12. Touch the On button on the touch screen. Wait a few seconds.
13. Touch the Start button on the touch screen. The robot now makes a noise
and moves a little while unlocking the breaks.
14. 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.
15. All joints are now OK. Touch the OK button, bringing you the Welcome screen.
16. Touch the PROGRAM Robot button and select Empty Program.
17. Touch the Next button (bottom right) so that the <empty> line is selected
in the tree structure on the left side of the screen.
18. Go to the Structure tab.
19. Touch the Move button.
20. Go to the Command tab.
21. Press the Next button, to go to the Waypoint settings.
22. Press the Set this waypoint button next to the "?" picture.
23. On the Move screen, move the robot by pressing the various blue arrows,
or move the robot by holding the Teach button, placed on the backside
of the teach pendant, while pulling the robot arm.
24. Press OK.
25. Press Add waypoint before.
26. Press the Set this waypoint button next to the "?" picture.
27. On the Move screen, move the robot by pressing the various blue arrows, or
move the robot by holding the Teach button while pulling the robot arm.
28. Press OK.
29. 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’.
30. 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 condition before you really make the robot do some work.
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1.4. Mounting Instructions
Front Tilted
Figure 1.2: The workspace of the robot. The robot can work in an approxi-
mate sphere (Ø260cm) 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, connecting 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 subsections 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 UR10 robot extends to 1300 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. Moving 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. It is recommended to tighten these bolts with 20 Nm torque. If very accurate repositioning of the robot is desired, two Ø8 holes are provided for use
with a pin. Also an accurate base counterpart can be purchased as accessory.
Figure 1.3 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.
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1.4. Mounting Instructions
4x 45°
±0,5°
4x
8,5 / M8
170
±0,5
2x
8
+
-
0,015
0,010
120
±0,5
10
±0,5
2x 5
±1
0,05
Figure 1.3: Holes for mounting the robot, scale 1:2. Use 4 M8 bolts. All mea-
surements are in mm.
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1.4. Mounting Instructions
4x 90°
4x M6
6
6 H7
+
0,012
0
90
63 H8
+
0,046
0
50
31,5 H7
+
0,025
0
45°
A
A
Lumberg RKMW 8-354
6,5
6
6,5
6,2
14,5
30,5
40,2
90
A-A
Figure 1.4: 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.
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1.4. Mounting Instructions
1.4.4 Mounting the Controller Box
The controller box can be hung on a wall, or it can be placed on the ground. A
clearance of 50mm on each side allows for sufficient airflow.
1.4.5 Mounting the Teach Pendant
The teach pendant 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.
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.
If the current rating of the specific plug is insufficient or if a more permanent
solution is prefered then wire the controller box directly. The mains supply shall
be equiped with the following as a minimum:
1. Main fuse.
2. Residual current device.
3. Connection to earth.
Mains input specification is shown below.
Parameter Min Typ Max Unit
Input voltage 100 - 240 VAC
External mains fuse (@ 100-200V) 15 - 16 A
External mains fuse (@ 200-240V) 8 - 16 A
Input frequency 47 - 63 Hz
Stand-by power - - 0.5 W
Nominal operating power 90 250 500 W
Use the screw connection marked with earth symbol inside the controller box
when potential equalization with other machinery is required.
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1.4. Mounting Instructions
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Chapter 2
Electrical Interface
2.1 Introduction
The robot is a machine that can be programmed to move a tool around in the
robots workspace. Often, it is desired to coordinate robot motion with nearby
machines or equipment on the tool. The most straightforward way to achieve
this is often by using the electrical interface.
There are electrical input and output signals (I/Os) inside the control box and
at the robot tool flange. This chapter explains how to connect equipment to
the I/Os. Some of the I/Os inside the control box are dedicated to the robot
safety functionality, and some are general purpose I/Os for connecting with
other machines and equipment. The general purpose I/Os can be manipulated
directly on the I/O tab in the user interface, see the PolyScope Manual, or by
the robot programs.
For additional I/O, Modbus units can be added via the extra Ethernet connector in the control box.
2.2 Important notices
Note that according to the IEC 61000 and EN 61000 standards cables going
from the control box to other machinery and factory equipment may not be
longer than 30m, unless extended tests are performed.
Note that every minus connection (0V) is referred to as GND, and is connected
to the shield of the robot and the control box. However, all mentioned GND connections are only for powering and signaling. For PE (Protective Earth) use one
of the two M6 sized screw connections inside the control box. If FE (Functional
Earth) is needed use one of the M3 screws close to the screw terminals.
Note that in this chapter, all unspecified voltage and current data are in DC.
It is generally important to keep safety interface signals seperated from the normal I/O interface signals. Also, the safety interface should never be connected
to a PLC which is not a safety PLC with the correct safety level. If this rule is not
followed, it is not possible to get a high safety level, since one failure in a normal
I/O can prevent a safety stop signal from resulting in a stop.
15
2.3. The Safety Interface
2.3 The Safety Interface
24V 24V GND GND
E01 E02 E03 E04
SA SB A R
TA TB A R
GND GND GND GND
24V 24V DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7 A0- AO+
24V 24V A1- A1+
EA EB EEA EEB
TA TB TA TB
AG AO0
AG AO1
Inside the control box there is a panel of screw terminals. The leftmost part,
in black above, is the safety interface. The safety interface can be used to
connect the robot to other machinery or protective equipment, to make sure
the robots stops in certain situations.
The safety interface is comprised of two parts; the emergency stop interface
and the safeguard stop interface, further described in the following sections.
The table below summarizes their differences:
Emergency Stop Safeguard Stop
Robot stops moving Yes Yes
Initiations Manual Manual or automatic
Program execution Stops Pauses
Brakes Active Not active
Motor power Off Limited
Reset Manual Automatic or manual
Use frequency Infrequent Every cycle to infrequent
Requires re-initialization Brake release only No
EN/IEC 60204 and NFPA 79 Stop category 1 Stop category 2
Performance level ISO 13849-1 PLd ISO 13849-1 PLd
2.3.1 The Emergency Stop Interface
[TA] Test Output A
[TB] Test Output B
[EO1] Emergency Stop Output Connection 1
[EO2] Emergency Stop Output Connection 2
[EO3] Emergency Stop Output Connection 3
[EO4] Emergency Stop Output Connection 4
[EA] Robot Emergency Stop Input A (Positive)
[EB] Robot Emergency Stop Input B (Negative)
[EEA] External Emergency Stop Input A (Positive)
[EEB] External Emergency Stop B (Negative)
[24V] +24V supply connection for safety devices
[GND] 0V supply connection for safety devices
The Emergency Stop interface has two inputs, the Robot Emergency Stop input
and the External Emergency Stop input. Each input is doubled for redundancy
due to the safety performance level d.
The Robot Emergency Stop interface will stop the robot, and will set the Emergency Stop output, intended for use by safety equipment near the robot. The
External Emergency Stop will also stop the robot, but will not affect the Emergency Stop output, and is only intended for connecting to other machines.
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2.3. The Safety Interface
The Simplest Emergency Stop Configuration
E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB
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.
Connecting an External Emergency Stop Button
E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB
In almost every robot application it is required to connect one or more external emergency stop buttons. Doing so is simple and easy. An example of how
to connect one extra button is shown above.
Connecting Emergency Stop to Other Machinery
When the robot is used together with other electro-mechanical machinery, it is
often required to set up a common emergency stop 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.
An example with two UR robots emergency stopping each other is shown
below.
E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB
A B
An example where multiple UR robots share their emergency stop function is
shown below. Connect more robots as robot number 2 is connected.
This example uses 24V which works with many other machines. Make sure to
comply with all electrical specifications when UR robots share emergency stop
with other machinery.
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2.3. The Safety Interface
1 2
E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB
E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB E01 E02 E03 E04
EA EB EEA EEB
TA TB TA TB
24V 24V GND GND
3
Electric Specifications
A simplified internal schematic of circuitry is shown below. It is important to notice that any short circuit or lost connection will lead to a safe stop, 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.
TA TB
12V
PTC
TA TB
12V
PTC
EO3EO1 EO2 EO4EA EB
1011
1011
EEA EEB
1011
1011
1011
1011
Below: Specifications of the Emergency Stop Interface.
Parameter Min Typ Max Unit
[TA-TB] Voltage 10.5 12 12.5 V
[TA-TB] Current (Each output) - - 120 mA
[TA-TB] Current protection - 400 - mA
[EA-EB][EEA-EEB] Input voltage -30 - 30 V
[EA-EB][EEA-EEB] Guaranteed OFF if -30 - 7 V
[EA-EB][EEA-EEB] Guaranteed ON if 10 - 30 V
[EA-EB][EEA-EEB] Guaranteed OFF if 0 - 3 mA
[EA-EB][EEA-EEB] ON Current (10-30V) 7 - 14 mA
[EO1-EO2][EO3-EO4] Contact Current AC/DC 0.01 - 6 A
[EO1-EO2][EO3-EO4] Contact Voltage DC 5 - 50 V
[EO1-EO2][EO3-EO4] Contact Voltage AC 5 - 250 V
Note the number of safety components that should be used and how they must
work depend on the risk assessment, which is explained in section 3.1.
Note that it is important to make regular checks of the safety stop functionality
to ensure that all safety stop devices are functioning correctly.
The two emergency stop inputs EA-EB and EEA-EEB are potential free inputs
conforming to IEC 60664-1 and EN 60664-1, pollution degree 2, overvoltage category II.
The emergency stop outputs EO1-EO2-EO3-EO4 are relay contacts conforming to IEC 60664-1 and EN 60664-1, pollution degree 2, over-voltage category
III.
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2.3. The Safety Interface
2.3.2 The Safeguard Interface
[TA] Test Output A
[TB] Test Output B
[SA] Safeguard Stop Input A (Positive)
[SB] Safeguard Stop Input B (Negative)
[A] Automatic continue after safeguard stop
[R] Reset safeguard stop
[24V] +24V supply connection for safety devices
[GND] 0V supply connection for safety devices
The Safeguard Interface is used to pause the robot movement in a safe way.
The Safeguard Interface can be used for light guards, door switches, safety PLCs
etc. Resuming from a safeguard stop can be automatic or can be controlled
by a pushbutton, depending on the safeguard configuration. If the Safeguard
Interface is not used then enable automatic reset functionality as described in
section 2.3.3.
Connecting a door switch
24V 24V GND GND SA SB A R
TA TB A R
Connecting a door switch or something comparable is done as shown above.
Remember to use a reset button configuration if the robot should not start automatically when the door is closed again.
Connecting a light guard
24V 24V
24V GND
GND GND SA SB A R
TA TB A R
How to connect a light guard is shown above. It is also possible to use a
category 1 (ISO 13849-1 and EN 954-1) light guard if the risk assessment allows it.
When connecting a category 1 light guard use TA and SA and then connect TB
and SB with a wire. Remember to use a reset button configuration so that the
safeguard stop is latched.
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2.3. The Safety Interface
Connecting a reset button
24V 24V GND GND SA SB A R
TA TB A R
How to connect a reset button is shown above. It is not allowed to have a
permanently pushed reset button. If the reset button is stuck a safeguard stop is
generated and an error message will appear on the log screen.
2.3.3 Automatic continue after safeguard stop
24V 24V GND GND SA SB A R
TA TB A R
The safeguard interface can reset itself when a safeguard stop event is gone.
How to enable automatic reset functionality is shown above. This is also the
recommended configuration if the safeguard interface is not used. However,
it is not recommended to use automatic reset if a reset button configuration
is possible. Automatic reset is intended for special installations and installations
with other machinery.
Electric Specifications
To understand the safeguard functionality, a simplified internal schematics of
the circuitry is shown below. Any failure in the safety system will lead to a safe
stop of the robot and an error message on the log screen.
1011
24V
GND
24V
TA TB
12V
PTC
SA SB
1011
1011
R
1011
A
12V
PTC
A R
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2.4. Controller I/O
Parameter Min Typ Max Unit
24V Voltage tolerance -15% - +20% -
Current available from 24V supply - - 1.2∗ A
Overload protection - 1.4 - A
[TA-TB][A↑][R↑] Voltage 10.5 12 12.5 V
[TA-TB][A↑][R↑] Current - - 120 mA
[TA-TB][A↑][R↑] Current protection - 400 - mA
[SA-SB] Input voltage -30 - 30 V
[SA-SB] Guaranteed OFF if -30 - 7 V
[SA-SB] Guaranteed ON if 10 - 30 V
[SA-SB] Guaranteed OFF if 0 - 3 mA
[SA-SB] ON Current (10-30V) 7 - 14 mA
[A↓][R↓] Input voltage -30 - 30 V
[A↓][R↓] Input guaranteed OFF if -30 - 7 V
[A↓][R↓] Input guaranteed ON if 10 - 30 V
[A↓][R↓] Guaranteed OFF if 0 - 5 mA
[A↓][R↓] ON Current (10-30V) 6 - 10 mA
The safeguard stop input SA-SB is a potential free input conforming to IEC
60664-1 and EN 60664-1, pollution degree 2, over-voltage category II.
Note that the yellow 24V connections is sourced by the same internal 24V power
supply as the 24V connections of the normal I/O, and that the maximum of 1.2
A is for both power sources together.
2.4 Controller I/O
24V 24V GND GND
E01 E02 E03 E04
SA SB A R
TA TB A R
GND GND GND GND
24V 24V DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7 A0- AO+
24V 24V A1- A1+
EA EB EEA EEB
TA TB TA TB
AG AO0
AG AO1
Inside the control box there is a panel of screw terminals with various I/O
parts, as shown above. The rightmost part of this panel is general purpose I/O.
[24V] +24V supply connection
[GND] 0V supply connection
[DOx] Digital output number x
[DIx] Digital input number x
[AOx] Analog output number x plus
[AG] Analog output GND
[Ax+] Analog input number x plus
[Ax-] Analog input number x minus
The I/O panel in the control box has 8 digital and 2 analog inputs, 8 digital
and 2 analog outputs, and a built in 24V power supply. Digital inputs and outputs
are pnp technology and constructed in compliance with IEC 61131-2 and EN
61131-2. 24V and GND can be used as input for the I/O module or output as a
24V power supply. When the control box is booting it checks if voltage is applied
to the 24V connection from an external power supply, and if not, it automatically
connects the internal 24V power supply.
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2.4. Controller I/O
Electrical specifications of the internal power supply
Parameter Min Typ Max Unit
Internal 24V voltage tolerance -15% - +20% -
Current from internal 24V supply - - 1.2∗ A
Overload protection - 1.4 - A
External power supply voltage 10 - 30 V
Note that the safeguard (yellow) 24V connections are sourced by the same
internal 24V power supply as the 24V connections of the normal I/O, and that
the maximum of 1.2 A is for both power sources together.
If the current load of the internal 24V power supply is exceeded, an error
message is printed on the log screen. The power supply will automatically try to
recover after a few seconds.
2.4.1 Digital Outputs
Parameter Min Typ Max Unit
Source current per output 0 - 2 A
Source current all outputs together 0 - 4 A
Voltage drop when ON 0 - 0.2 V
Leakage current when OFF 0 0 - 0.1 mA
The outputs can be used to drive equipment directly e.g. pneumatic relays
or they can be used for communication with other PLC systems. The outputs
are constructed in compliance with all three types of digital inputs defined in
IEC 61131-2 and EN 61131-2, and with all requirements for digital outputs of the
same standards.
All digital outputs can be disabled automatically when a program is stopped,
by using the check box “Always low at program stop” on the I/O Name screen
(see the PolyScope manual). In this mode, the output is always low when a
program is not running.
The digital outputs are not current limited and overriding the specified data
can cause permanent damage. However, it is not possible to damage the outputs if the internal 24V power supply is used due to its current protection.
Note that the control box and the metal shields are connected to GND. Never
send I/O current through the shields or earth connections.
The next subsections show some simple examples of how the digital outputs
could be used.
Load Controlled by Digital Output
LOAD
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND
DO6 DO7
This example illustrates how to turn on a load.
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2.4. Controller I/O
Load Controlled by Digital Output, External Power
LOAD
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND
DO6 DO7
GND GND
24V 24V DO0
24V
If the available current from the internal power supply is not enough, simply use
an external power supply, as shown above.
2.4.2 Digital Inputs
Parameter Min Typ Max Unit
Input voltage -30 - 30 V
Input guaranteed OFF if -30 - 7 V
Input guaranteed ON if 10 - 30 V
Guaranteed OFF if 0 - 5 mA
ON Current (10-30V) 6 - 10 mA
The digital inputs are implemented as pnp which means that they are active when voltage is applied to them. The inputs can be used to read buttons,
sensors or for communication with other PLC systems. The inputs are compliant
with all three types of digital inputs defined in IEC 61131-2 and EN 61131-2, which
means that they will work together with all types of digital outputs defined in the
same standards.
Technical specifications of the digital inputs are shown below.
Digital Input, Simple Button
The above example shows how to connect a simple button or switch.
Digital Input, Simple Button, External Power
GND GND
DO7 24V
GND
GND
DI0 DI1 DI2
24V 24V 24V
Button
The above illustration shows how to connect a button using an external power
source.
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2.4. Controller I/O
Signal Communication with other Machinery or PLCs
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7
24V 24V
GND GND
DO0 DO1
GND GND GND GND
DO2 DO3 DO4 DO5
GND GND DI0 DI1
DO6 DO7 24V 24V
DI2 DI3 DI4 DI5
24V 24V 24V 24V
DI6 DI7
24V 24V
A B
If communication with other machinery or PLCs is needed they must use pnp
technology. Remember to create a common GND connection between the
different interfaces. An example where two UR robots (A and B) are communicating with each other is illustrated above.
2.4.3 Analog Outputs
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 - ohm
The analog outputs can be set for both current mode and voltage mode, in
the range of 4-20mA and 0-10V respectively.
To illustrate clearly how easy it is to use analog outputs, some simple examples are shown.
Using the Analog Outputs
This is the normal and best way 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
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2.4. Controller I/O
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 I/O.
2.4.4 Analog Inputs
Parameter Min Typ Max Unit
Common mode input voltage -33 - 33 V
Differential mode input voltage* -33 - 33 V
Differential input resistance - 220 - kohm
Common mode input resistance - 55 - kohm
Common mode rejection ratio 75 - - dB
The analog inputs can be set to four different voltage ranges, which are
implemented in different ways, and therefore can have different offset and gain
errors. The specified differential mode input voltage is only valid with a common
mode voltage of 0V. To make it clear how easy it is to use analog outputs, some
simple examples are shown.
Using Analog Inputs, Differential Voltage Input
The simplest way to use analog inputs. The equipment shown, which could
be a sensor, has a differential voltage output.
Using Analog Inputs, Non-differential Voltage Input
If it is not possible to achieve a differential signal from the equipment used,
a solution could look something like the setup above. Unlike the non-differential
analog output example in subsection 2.4.3, this solution would be almost as
good as the differential solutions.
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2.5. Tool I/O
Using Analog Inputs, Differential Current Input
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 control
box.
Note that the tolerance of the resistor and the ohmic change due to temperature must be added to the error specifications of the analog inputs.
Using Analog Inputs, Non-differential Current Input
If the output of the equipment is a non-differential current signal, a resistor
must be used as shown above. The resistor should be around 200 ohms and the
relationship between the voltage at the controller input and the output of the
sensor is given by:
Voltage = Current x Resistance
Note that the tolerance of the resistor and the ohmic change due to temperature must be added to the error specifications of the analog inputs.
2.5 Tool I/O
At the tool end of the robot there is a small connector with eight connections.
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2.5. Tool I/O
Color Signal
Red 0V (GND)
Gray 0V/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 (AI2)
Brown Analog input 3 (AI3)
This connector provides power and control signals for basic grippers and sensors, which may be present on a specific robot tool. This connector can be used
to reduce wiring between the tool and the control box. The connector is a standard Lumberg RSMEDG8, which mates with a cable named RKMV 8-354.
Note that the tool flange is connected to GND (same as the red wire).
Internal Power Supply Specifications
Parameter Min Typ Max Unit
Supply voltage in 24V 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
The available power supply can be set to either 0V, 12V or 24V at the I/O tab
in the graphical user interface. 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 internal control system will generate an error to the robot log if the current
exceeds its limit. The different I/Os at the tool is described in the following three
subsections.
2.5.1 Digital Outputs
Parameter Min Typ Max Unit
Voltage when open -0.5 - 26 V
Voltage when sinking 1A - 0.05 0.20 V
Current when sinking 0 - 1 A
Current through GND - - 1 A
Switch time - 1000 - us
Capacitive load - - TBD uF
Inductive load - - TBD uH
The digital outputs are implemented so that they can only sink to GND (0V)
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 primary difference between the digital outputs inside the control box and those in the tool is the reduced current due to the small connector.
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2.5. Tool I/O
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 to use digital outputs, a simple example is
shown.
Using Digital Outputs
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. 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
Parameter Min Typ Max Unit
Input voltage -0.5 - 26 V
Logical low voltage - - 2.0 V
Logical high voltage 5.5 - - V
Input resistance - 47k - Ω
The digital inputs are implemented with weak pull-down resistors. This means
that a floating input will always read low. The digital inputs at the tool are implemented in the same way as the digital inputs inside the control box.
Using Digital Inputs
The above example shows how to connect a simple button or switch.
2.5.3 Analog Inputs
The analog inputs at the tool are very different from those inside the control
box. The first thing 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
notice 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.
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2.5. Tool I/O
Parameter Min Typ Max Unit
Input voltage in voltage mode -0.5 - 26 V
Input voltage in current mode -0.5 - 5.0 V
Input current in current mode -2.5 - 25 mA
Input resistance @ range 0V to 5V - 29 - kΩ
Input resistance @ range 0V to 10V - 15 - kΩ
Input resistance @ range 4mA to 20mA - 200 - Ω
An important thing to realize is that any current change in the common GND
connection can result in 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 I/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
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. Remember to check that a sensor with voltage output can
drive the internal resistance of the tool, or the measurement might be invalid.
Using Analog Inputs, Differential
Using sensors with differential outputs is also straightforward. Simply connect
the negative output part to GND (0V) with a terminal strip and it will work in the
same way as a non-differential sensor.
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2.5. Tool I/O
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Chapter 3
Safety
3.1 Introduction
This chapter gives a short introduction to the statutory documentation and important information about the risk assessment, followed by a section concerning
emergency situations. Regarding safety in general all assembly instructions from
1.4 and 2.1 shall be followed. Technical specifications of the electrical safety
interface, including performance level and safety categories, are found in section 2.3.
3.2 Statutory documentation
A robot installation within the EU shall comply with the machinery directive to
insure its safety. This includes the following points.
1. Make sure that the product comply with all essential requirements.
2. Make a risk assessment.
3. Specify instructions for the operator.
4. Make a declaration of conformity.
5. Collect all information in a technical file.
6. Put a CE mark on the robot installation.
In a given robot installation, the integrator is responsible for the compliance
with all relevant directives. Universal Robots takes responsibility for the robot itself
complying with the relevant EU directives (See section 5.1).
Universal Robots provides a safety guide, available at http://www.universalrobots.com, for integrators with little or no experience in making the necessary
documentation.
If the robot is installed outside EU, the robot integration shall comply with the
local directives and laws of the specific country. The integrator is responsible for
this compliance. It is always necessary to perform a risk assessment to ensure
that the complete robot installation is sufficiently safe.
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3.3. Risk assessment
3.3 Risk assessment
One of the most important things that an integrator needs to do is to make a
risk assessment. 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.
1. Entrapment of fingers between robot foot and base (joint 0).
2. Entrapment of fingers between the arm and wrist (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 holds the robot arm or tool.
8. Items falling out of tool. E.g. due to a poor grip or power interruption.
9. Electrical shock or fire due to malfunction of power supplies if the mains
connection is not protected by a main fuse, a residual current device and
a proper connection to earth. See section 1.4.7.
10. Mistakes due to different emergency stop buttons for different machines.
Use common emergency stop function as descriped in section 2.3.1.
However, the UR10 is a very safe robot due to the following reasons:
1. Control system conforms to ISO 13849-1 performance level d.
2. The control system of the robot is redundant so that all dangerous failures
forces the robot to enter a safe condition.
3. High level software generates a protective stop if the robot hits something.
This stop force limit is lower than 150N.
4. Furthermore, low level software limits the torque generated by the joints,
permitting only a small deviation from the expected torque.
5. The software prevents program execution when the robot is mounted differently than specified in the setup.
6. The weight of the robot is less than 28kg.
7. The robot shape is smooth, to reduces pressure (N/m2) per force (N).
8. It is possible to move the joints of an unpowered robot. See section 3.4
The fact that the robot is very safe opens the possibility of either saving the
safety guards or using safety guards with a low performance level. As a help in
convincing customers and local authorities the UR10 robot has been certified by
the Danish Technological Institute which is a Notified Body under the machinery
directive in Denmark. The certification concludes that the robot complies with
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3.4. Emergency situations
article 5.10.5 of the EN ISO 10218-1:2006. This standard is harmonized under the
machinery directive and it specifically states that a robot can operate as a
collaborative robot (i.e. without safety guards between the robot and the operator) if it is in compliance with the article 5.10.5. The risk assessment still needs
to conclude that the overall robot installation is safe enough of course. A copy
of the certification report can be requested from Universal Robots.
The standard EN ISO 10218-1:2006 is valid untill the 1st of January 2013. In
the meantime the newer version EN ISO 10218-1:2011 and the corrosponding EN
ISO 10218-2:2011 addressed to the integrators are also valid. Where the EN ISO
10218-1:2006 specifically states that a maximum force of 150N combined with
a supporting risk assesment is required for collaborative operation, the newer
standards does not specify a specific maximum force but leaves this to the specific risk assesment. In general this means that regardless of the standard used a
risk assesment shall confirm that the collaborative robot installation is sufficiently
safe, and for most cases the combination of a well constructed robot installation
and the maximum force of 150N is sufficient.
3.4 Emergency situations
In the unlikely event of an emergency situation where one or more robot joints
needs to be moved and robot power is either not possible or unwanted, there
are three different ways to force movements of the robot joints without powering
the motors of the joints:
1. Active backdriving: If possible, power on the robot by pushing the ”ON”
button on the initializing screen. Instead of pushing the ”break release”
button to power up the joint motors, push the teach button on the backside of the teach pendant. A special backdrive mode is entered and the
robot will loosen its breacks automatically while the robot is hand guided.
Releasing the teach button re-locks the breaks.
2. Manual break release: Remove the joint cover by removing the few M3
screws that fix it. Release the break by pushing the plunger on the small
electro magnet as shown in the picture below.
3. Forced backdriving: Force a joint to move by pulling hard in the robot arm.
Each joint break has a friction clutch which enables movement during high
forced torque. Forced backdriving is intended for urgent emergencies only
and might damage the joint gears and other parts.
Do not turn any joints more than necessary and beware of gravity and heavy
payloads.
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3.4. Emergency situations
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Chapter 4
Warranties
4.1 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 under the conditions set out below:
In the case of new devices and their components exhibiting defects resulting 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 invalid 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 evidence for invoking the Warranty. Claims under the Warranty must be submitted
within two months of the Warranty default becoming evident. Ownership of devices 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 attempt 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 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.
4.2 Disclaimer
Universal Robots continues to improve reliability and performance of its products, and therefore reserves the right to upgrade the right to upgrade the product without prior warning. Universal Robots takes every care that the contents
of this manual are precise and correct, but takes no responsibility for any errors
or missing information.
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4.2. Disclaimer
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Chapter 5
Declaration of Incorporation
5.1 Introduction
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.
5.2 Product manufacturer
Name Universal Robots A/S
Address Sivlandvænget 1
5260 Odense S
Denmark
Phone number +45 8993 8989
E-mail address sales@universal-robots.com
International VAT number DK29138060
5.3 Person Authorised to Compile the Technical Documen-
tation
Name Lasse Kieffer
Address Sivlandvænget 1
5260 Odense S
Denmark
Phone number +45 8993 8971
E-mail address kieffer@universal-robots.com
5.4 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.
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5.5. Essential Requirements
Generic denomination UR10
Function General purpose industrial robot
Model UR10
Serial number of robot arm
Serial number of control box
Commercial name UR10
5.5 Essential Requirements
The individual robot installations have different safety requirements and the integrator is therefore responsible for all hazards which are not covered by the
general design of the robot. However, the general design of the robot, including its interfaces meets all essential requirements listed in annex I of 2006/42/EC.
The technical documentation of the robot is in accordance with annex VII
part B of 2006/42/EC.
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5.5. Essential Requirements
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 ISO 13849-1:2006
(Under applied directives) ISO 13849-2:2003
ISO 10218-1:2006 (Partly)
ISO 10218-1:2011 (Partly)
ISO 10218-2:2011 (Partly)
ISO 13850:2006
ISO 12100:2010
ISO 3745:2003
IEC 61000-6-2 ED 2.0:2005
IEC 61000-6-4 AMD1 ED 2.0:2010
IEC 61131-2 ED 3.0:2007 (Partly)
EN ISO 13849-1:2008
EN ISO 13849-1/AC:2009
EN ISO 13849-2:2008
EN ISO 10218-1:2008 (Partly)
EN ISO 10218-1:2011 (Partly)
EN ISO 10218-2:2011 (Partly)
EN ISO 13850:2008
EN ISO 12100:2010
EN ISO 3745:2009
EN 61000-6-2:2005
EN 61000-6-4/A1:2011
EN 61131-2:2007 (Partly)
EN 1037:2010
Applied general standards ISO 9409-1:2004 (Partly)
(Not all standards are listed) ISO 9283:1999 (Partly)
ISO 9787:2000 (Partly)
ISO 9946:2000 (Partly)
ISO 8373:1996 (Partly)
ISO/TR 14121-2:2007
ISO 1101:2004
ISO 286-1:2010
ISO 286-2:2010
IEC 60664-1 ED 2.0:2007
IEC 60947-5-5:1997
IEC 60529:1989+A1:1999
IEC 60320-1 Ed 2.0:2001
IEC 60204-1 Ed 5.0:2005 (Partly)
EN ISO 9409-1:2004 (Partly)
EN ISO 9283:1999 (Partly)
EN ISO 9787:2000 (Partly)
EN ISO 9946:2000 (Partly)
EN ISO 8373:1996 (Partly)
EN ISO/TR 14121-2:2007
EN ISO 1101:2005
EN ISO 286-1:2010
EN ISO 286-2:2010
EN 60664-1:2007
EN 60947-5-5:1998
EN 60947-5-5/A1:2005
EN 50205:2003
EN 60529:1991+A1:2000
EN 60320:2003
EN 60204:2006 (Partly)
Note that the low voltage directive is not listed. The machinery directive
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5.6. National Authority Contact Information
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 relevant requirements to electrical construction described in the low voltage directive 2006/95/EC.
Also note that the WEEE directive 2002/96/EC is listed because of the crossedout wheeled bin symbol on the robot and the control box. Universal Robots registers all robot sales within Denmark to the national WEEE register of Denmark.
Every distributor outside Denmark and within the EU must make their own registration to the WEEE register of the country in which their company is based.
5.6 National Authority Contact Information
Authorised person Lasse Kieffer
+45 8993 8971
kieffer@universal-robots.com
CTO Esben H. Østergaard
+45 8993 8974
esben@universal-robots.com
CEO Enrico Krog Iversen
+45 8993 8973
eki@universal-robots.com
5.7 Important Notice
The robot may not be put 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.
5.8 Place and Date of the Declaration
Place Universal Robots A/S
Sivlandvænget 1
5260 Odense S
Denmark
Date 1. December 2011
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5.9. Identity and Signature of the Empowered Person
5.9 Identity and Signature of the Empowered Person
Name Lasse Kieffer
Address Sivlandvænget 1
5260 Odense S
Denmark
Phone number +45 8993 8971
E-mail address kieffer@universal-robots.com
Signature
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5.9. Identity and Signature of the Empowered Person
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Appendix A
Euromap67 Interface
A.1 Introduction
This manual is intended for the integrator. It contains important information regarding integration, programming, understanding and debugging.
Abbreviations used in this document are explained below.
Abbreviation Meaning
UR Universal Robots
CB Controller Box
IMM Injection Moulding Machine
MAF Moulding Area Free
A, B, C, ZA, ZB and ZC Signals inside euromap67 cable
WARNING: An IMM can use up to 250V on some of its signals. Do not connect
an IMM to the euromap67 interface if it is not properly installed in a controller
box; including all mandatory ground connections.
NOTE: Euromap67 is only supported on controller boxes produced after medio
March 2011.
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A.2. Robot and IMM integration
A.1.1 Euromap67 standard
The euromap67 standard is free of charge and can be downloaded from www.
euromap.org. The UR euromap67 module conforms to all demands in this stan-
dard when it is powered up. When it is powered down the euromap67 standard
specifies that every safety related signal shall be operative. This may cause hazardous situations and contradicts the safety specifications of ISO 13849-1 and
EN ISO 13849-1. Therefore, the UR euromap67 module opens the emergency
stop signals, MAF signals and all I/O signals when the controller box is powered
off.
All optional, manufacturer dependent and reserved I/O signals are supported.
Interfacing according to euromap67.1 is also possible.
A.1.2 CE
The UR euromap67 interface is part of the internal circuitry of the UR controller
box, and it can only be purchased in conjunction with a UR controller box. The
UR euromap67 interface is therefore falling under the Declaration of Incorporation, which is found in the user manual of the robot.
The interface is constructed with the same components and principles, and
under the same test requirements, as the controller box. Therefore, it does not
add any changes to the Declaration of Incorporation of the robot.
The safety functions are PLd, category 3, conforming to ISO 13849-1 and EN
ISO 13849-1.
A.2 Robot and IMM integration
The following subsections contain important information for the integrator.
A.2.1 Emergency stop and safeguard stop
The emergency stop signals are shared between the robot and the IMM. This
means that a robot emergency stop also emergency stop the IMM and vice
versa.
The safeguard stop signals (Safety devices [ZA3-ZC3][ZA4-ZC4]) ensures
that the robot is safeguard stopped when a door on the IMM is open. Note
that it is not a part of the euromap67 standard to stop the IMM if the robot is
safeguard stopped. This means that if an operator enters the workspace of the
robot then he must not be able to reach into the IMM without causing a safe
stop condition.
If a safety device shall safeguard stop both the robot and the IMM then
connect it to the IMM.
NOTE: The special ”external emergency stop” input [EEA-EEB] can be used to
connect the robot to a third machine. If so, only the robot will emergency stop
if an emergency stop button is pushed on the third machine, not the IMM!
NOTE: Always verify the functionality of safety related functions.
A.2.2 Connecting a MAF light guard
The MAF signal [A3-C3] in the euromap67 cable enables the powerful movement of the mould. Care must be taken to prevent the mould from closing
when the robot is inside the machine.
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A.2. Robot and IMM integration
The euromap67 interface is supplied without a MAF light guard. This means
that an error in the robot program could cause the IMM mould to close and
crush the robot. However, it is possible to connect a light guard as shown below
to prevent these accidents. A category 1 light curtain can be purchased for a
few hundred Euro (e.g. ”PSEN op 2H-s/1” from Pilz).
24V GND
GND GND
24V 24V
MAF MAF
Euromap67
A.2.3 Mounting the robot and tool
Before constructing a tool and a mounting surface, the integrator must consider
how joint 4 (wrist 2) is orientated during pick and place. Joint 1, 2 and 3 has
parallel axes and if joint 4 orientates joint 5 to the left or to the right then joint 5 is
parallel to the other three axes, which forms a singularity. It is generally a good
idea to place the robot in a 45 degree angle or constructing a tool where the
surface of the tool flange of the robot points down when gripping the items from
the vertical mould surface.
A.2.4 Using the robot without an IMM
To operate the robot without an IMM, a by-pass plug must be used to close the
emergency and safety signals. The only alternative is to permanently uninstall
the interface as described in section A.4.1.
A.2.5 Euromap12 to euromap67 conversion
To interface an IMM with euromap12 interface an E12 - E67 adaptor must be
used. Several adaptors is available on the marked from different manufacturers.. Unfortunately most adaptors are constructed for specific robots or IMMs
assuming specific designs choices. This means that some adaptors will not connect the UR robot and your IMM correctly. It is recommended to read both
the euromap12 and euromap67 standard whenever using or constructing an
adaptor.
A list with common errors is shown below:
1. Do you measure 24V between A9 and C9?
• The IMM must supply 24V to enable the I/O signals.
• If the robot and the IMM has common minus/0V then the robot 24V
can be used by connecting A9 to ZA9 and C9 to ZC9. IMM 24V is often
present at euromap12 pin 32.
2. Is the adaptor switching both robot emergency channels and both robot
safety devices channels?
• This is typically accomplished using 4 relays.
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A.3. GUI
A.3 GUI
The next subsections describe how the euromap interface is controlled from the
GUI, how to verify the signals to and from the IMM, how the easy programming
is done with structures and how more advanced things can be accomplished
using the signals directly.
It is, though, highly recommended to use the euromap67 program template
instead of making a program from scratch, see below.
A.3.1 Euromap67 program template
After installing the euromap67 interface, an extra button appears which gives
access to the euromap67 program template.
Selecting the euromap67 program template, the program screen will appear with the template loaded. The template structure will then be visible on
the left side of the screen.
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A.3. GUI
The euromap67 program template is prepared for performing simple interaction with an IMM. By specifying only a few waypoints, and a pair of I/O actions,
the robot is ready for handling the objects made by the IMM. The waypoints are:
• WP home position: The robot starting point for the procedure.
• WP wait for item: The waypoint where the robot will be placed while wait-
ing for an item to be ready from the IMM.
• WP take item: The waypoint where the robot will take the item from (inside)
the IMM.
• WP drop item: The waypoint where the robot will drop the item just fetched
from the IMM.
The two Action nodes are intended for controlling a tool capable of grabbing
and holding the items from the IMM, and then releasing and dropping them
when moved outside the IMM.
Now, the procedure will cycle through the steps, continously removing newly
constructed items from the IMM. Obviously, the Loop node should be customized
such that the robot will only run this cycle as long as there are items to take.
Also, by customizing the MoveJ node, the robot movement speed should be
adjusted to fit the IMM cycle time, and, if necessary, the level of fragility of the
items. Finally, each euromap67 structure is customizable to suit the specific IMM
procedure.
A.3.2 I/O overview and troubleshooting
The euromap67 I/O overview is found under the I/O tab.
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A.3. GUI
There are four frames on this screen, which are described separately below.
Common for all are the two columns Robot and Machine, which respectively
shows buttons for controlling output signals, and indicators for showing state of
input signals.
The (normal) state of the signals at startup, is that they are all low, except for
the 24V signals, and the robot output Automatic Mode which is active-low and
therefore set high per default.
If a signal is not part of a program structure, and it is intended to be used in
a robot program, this is achievable making use of e.g. Action and Wait nodes.
NOTE: ”Automatic mode” from the robot to the IMM is active low. The button
reflects the physical level and therefore ”Automatic mode” is activated when
the button is not activated.
NOTE: The buttons for controlling output signals are per default only availabe in
robot programming mode. This can, however, be set as desired on the I/O setup
tab found on the Installation screen.
Control
The signals related to controlling the interaction between the robot and the IMM
are shown here. These signals are all used by the program structures, where they
have been joined in appropriate and secure ways.
Manufacturer dependent
These are signals, that may have specific purposes according to the IMM manufacturer. The robot is not dependant on specifics of these signals, and they can
be used as needed.
Safety
In the robot column, the indicators Emergency Stop and Mould Area Free (Elec-
trical) are not controlable from this screen. They simply indicate if the robot is
emergency stopped, and if the MAF output is set high. The MAF output is set
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A.3. GUI
high under the condition that the electrical supervision signal of the mould area
(possible with use of light guard, as explained above), and the MAF signal from
the software are both high. The MAF signal from software can be controlled by
the respective button. The emergency stop signal from the machine indicates
whether the IMM is emergency stopped. The Safeguard Open input shows the
state of the ”Safety devices” signals specified in the euromap67 standard.
Status
The operation mode of the robot and the IMM can be controlled/viewed (these
signals are also used in the program structures). The bars showing voltage and
current consumption represent the values delivered to the IMM and possibly a
light guard by the euromap67 module.
A.3.3 Program structure functionality
There are seven program structures, which can be selected from the Structure
tab on the program screen. These structures will be available after the eurompa67 interface has been properly installed (as explained in section A.4). An
example of their use, can be seen in the euromap67 program template.
The structures are all made to achieve a proper and safe interaction with the
IMM, and therefore they all include tests that certain signals are set correctly.
Also, they may set more than one output to enable only one action.
When a program structure is inserted into a robot program, it can be customized by selecting the structure in the program, and then clicking on the
Command tab. All program structures consist of a number of steps. Most of
the steps are enabled per default, and some cannot be disabled because they
are essential to the structure intention. The Test steps make the program stop if
the test condition is not met. Both the state of inputs and outputs are testable.
Set output steps set a specified output to either high or low. Wait until steps are
typically used for waiting until a movement has been finished before continuing
with further steps and following program nodes.
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A.3. GUI
Startup Check
Intended for use once in the beginning of a robot program, to make sure the
robot and machine are set up correctly before moulding is started. Use the
checkboxes to enable/disable individual steps.
Free to Mould
Used for signalling the IMM that it is allowed to start a moulding operation.
When this signal is activated, the robot must be placed outside the IMM. Use
the checkboxes to enable/disable individual steps.
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A.3. GUI
Wait for Item
Intended for making the robot wait until an item is ready from the IMM. Use the
checkboxes to enable/disable individual steps.
Ejector Forward
Enables the movement of the ejector which removes an item from the mould.
Should be used when the robot is in position ready for grasping the item. Use
the checkboxes to enable/disable individual steps.
Ejector Back
Enables the movement of the ejector to its back position. Use the checkboxes
to enable/disable individual steps.
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A.3. GUI
Core Pullers In
Enables the movement of the core pullers to position 1. Which core pullers
are used is selected from the drop down menu. Use the checkboxes to enable/disable individual steps.
Core Pullers Out
Enables the movement of the core pullers to position 2. Which core pullers
are used is selected from the drop down menu. Use the checkboxes to enable/disable individual steps.
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A.4. Installing and uninstalling the interface
A.3.4 I/O action and wait
As the robot digital outputs can be set by an Action node, so can also the euromap67 output signals. When the euromap67 interface is installed, the signals
appear in the menues where they can be selected. Also, as the robot digital
inputs, euromap67 input signals can be used to control the program behavior
by inserting a Wait node, which makes the program wait until an input is either
high or low.
For advanced users, an output can be set to the value of a specified expression. Such expression may contain both inputs, outputs, variables, etc., and can
be used to obtain complex program functionality. Likewise, a Wait node can be
set to wait until the value of an expression is true. Generally, the euromap67 signals will all be available on the expression screen, which means that they can
be used in all circumstances where an expression can be selected.
In order to use signals, which are not part of the euromap67 program structures, they must be either set or read ”manually” from a program, by inserting
additional Action, Wait, etc. nodes. This applies to e.g. the manufacturer dependent and the reserved signals, which are all usable although not shown on
the euromap67 I/O tab. This also means that in order to make use of the inputs Reject and Intermediate Mould Opening Position, the template program
will have to be customized and extended.
Finally, it is recommended to NOT set the Mould Area Free signal manually,
as this may cause hazardous situations.
A.4 Installing and uninstalling the interface
To achieve redundancy of the safety functionality, the controller box knows
whether it shall expect a euromap67 interface to be present or not. Therefore,
the installing and uninstalling procedures below must be followed precisely.
Please note the orientation of the ribbon cable below.
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A.4. Installing and uninstalling the interface
NOTE: Do not plug/unplug the ribbon cable with power on the controller box!
A.4.1 Installing
The interface can be placed at the bottom or in the left side of the controller
box, see pictures below and follow the procedure. It is not allowed to install the
interface in any other way.
1. Power down the controller box.
• The green light of the power button of the teach pendant must be off.
2. Mount the interface.
• Use 1 M6 nut to screw on the ground connector.
• Use 4 M4×8mm screws to screw on the interface.
• Use 4 M4×8mm screws to cover the empty holes.
• Click on the ribbon cable with the right orientation.
• Use some fixing pads to fix the ribbon cable.
3. Power up the controller box.
• The interface is automatically detected.
• The safety functionality is permanently enabled.
• The safety system reboots
A.4.2 Uninstalling
Follow the procedure below.
1. Power down the controller box.
• The green light of the power button of the teach pendant must be off.
2. Unmount the interface.
• Remove the ribbon cable.
• Remove the M6 nut from the ground connector.
• Remove all M4 screws from the outer side of the controller box.
3. Power up the controller box.
• The controller box stays in booting state.
• Some warnings might appear.
4. Disable safety functionality.
• Go to the Installation screen, then select the Settings tab.
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A.5. Electrical characteristics
• Push the ”Disable euromap67” button.
• A safety processor stops communicating while saving the new con-
figuration and 10-20 warnings and errors are printed in the log. This is
normal.
• The safety system reboots.
A.5 Electrical characteristics
The following subsections contain useful information for machine builders and
debuggers.
A.5.1 MAF light guard interface
The 24V is shared with the 24V [ZA9-ZC9] in the euromap67 cable. However,
the input signals to the controller box are low current types and therefore most
of the current is available. It is recommended to keep the load under 1.2A. The
24V current and voltage is shown on the euromap67 I/O tab.
The two MAF signals must connect to potential free switch contacts. The
MAF signals are 0V/0mA when the ”Moulding Area Free (Software)” bit is off.
Parameter Min Typ Max Unit
24V Voltage tolerance -15% - +20% -
Current available from 24V supply - - 2.0∗ A
Overload protection - 2.2 - A
[MAF-MAF] Voltage when disconnected 0 12 12.5 V
[MAF-MAF] Current when connected 0 57 70 mA
[MAF-MAF] Protection against wrong connection - 400 - mA
[MAF-MAF] Protection against wrong connection -18 - 30 V
NOTE: The ”MAF light guard interface” signals are not galvanically isolated from
the shield of the controller box.
A.5.2 Emergency stop, safety devices and MAF signals
The signals signalling emergency stop and MAF to the IMM are controlled by
force guided safety relays conforming to EN 50205. The switch contacts are
galvanically isolated from all other signals and conforms to IEC 60664-1 and EN
60664-1, pollution degree 2, overvoltage category III.
The signals signalling emergency stop and safeguard stop (safety devices)
to the robot are connected to the potential of the controller box.
Parameter Min Typ Max Unit
[C1-C2][C3-C4] Voltage 10.2 12 12.5 V
[C1-C2][C3-C4] Current (Each output) - - 120 mA
[C1-C2][C3-C4] Current protection - 400 - mA
[A1-A2][A3-A4] Input voltage -30 - 30 V
[A1-A2][A3-A4] Guaranteed OFF if -30 - 7 V
[A1-A2][A3-A4] Guaranteed ON if 10 - 30 V
[A1-A2][A3-A4] Guaranteed OFF if 0 - 3 mA
[A1-A2][A3-A4] ON Current (10-30V) 7 - 14 mA
[A1-C1][A2-C2][A3-C3] Current AC/DC 0.01 - 6 A
[A1-C1][A2-C2][A3-C3] Voltage DC 5 - 50 V
[A1-C1][A2-C2][A3-C3] Voltage AC 5 - 250 V
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A.5. Electrical characteristics
A.5.3 Digital Inputs
The digital inputs are implemented as pnp and are galvanically connected to
the controller box. The inputs are compliant with all three types of digital inputs
defined in IEC 61131-2 and EN 61131-2, which means that they will work together
with all types of digital outputs defined in the same standards.
Parameter Min Typ Max Unit
Input voltage -30 24 30 V
Input guaranteed OFF if -30 - 7 V
Input guaranteed ON if 10 - 30 V
Guaranteed OFF if 0 - 5 mA
ON Current (10-30V) 6 - 10 mA
A.5.4 Digital Outputs
The digital outputs are implemented as pnp and are galvanically connected to
the IMM. The galvanic isolation between the IMM and robot potentials conforms
to IEC 60664-1 and EN 60664-1, pollution degree 2, overvoltage category II. The
outputs are constructed in compliance with all three types of digital inputs defined in IEC 61131-2 and EN 61131-2, and with all requirements for digital outputs
of the same standards.
The digital outputs use some mA from the 24V of the IMM to control and bias
the transistors forming solid-state relays.
Parameter Min Typ Max Unit
Source current per output 0 - 120 mA
Voltage drop when ON 0 0.1 1 V
Leakage current when OFF 0 0 0.1 mA
Current used from IMM 24V - 12 25 mA
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Appendix B
Certifications
57
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