Universal Robots UR3, CB3 User Manual

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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)

4.1 Introduction

This chapter describes all the electrical interfaces of the robot arm and control box.

The different interfaces are divided into ﬁve groups with different purposes and

properties:

• Controller I/O

• Tool I/O

• Ethernet

• Mains connection

• Robot connection

The term “I/O” refers both digital and analog control signals going from or to an

interface.

These ﬁve groups are described in the following sections. Examples are given for

most types of I/O.

4 Electrical Interface

The warnings and cautions in the following section are relevant for all ﬁve groups

and must be observed.

4.2 Electrical warnings and cautions

The following warnings and cautions must be observed when a robot application

is designed and installed. The warnings and cautions also apply for service work.

DANGER:

1. Never connect safety signals to a PLC which is not a safety

PLC with the correct safety level. Failure to follow this warn-

ing could result in serious injury or death as one of safety stop

functions could be overridden. It is important to keep safety

interface signals separated from the normal I/O interface sig-

nals.

2. All safety-related signals are constructed redundantly (Two

independent channels). Keep the two channels separate so

that a single fault cannot lead to loss of the safety function.

3. Some I/O inside the control box can be conﬁgured for either

normal or safety-related I/O. Read and understand the com-

plete section 4.3.

Version 3.1 (rev. 17782)

I-19 UR3/CB3

4.2 Electrical warnings and cautions

DANGER:

1. Make sure that all equipment not rated for water exposure

remains dry. If water comes inside the product, lockout and

tagout all power and then contact your supplier.

2. Use original cables supplied with the robot only. Do not use

the robot for applications where the cables will be subjected

to ﬂexing. Contact your supplier if longer or ﬂexible cables

are needed.

3. Minus connections are referred to as “GND” and are con-

nected to the shield of the robot and the controller box. All

mentioned GND connections are only for powering and sig-

nalling. For PE (Protective Earth) use the M6 sized screw con-

nections marked with earth symbols inside the control box.

The grounding conductor shall have at least the current rat-

ing of the highest current in the system.

4. Care must be taken when installing interface cables to the

robot I/O. The metal plate in the bottom is intended for inter-

face cables and connectors. Remove the plate before drilling

the holes. Make sure that all shavings are removed before

reinstalling the plate. Remember to use correct gland sizes.

CAUTION:

1. The robot has been tested according to international IEC stan-

dards for EMC (ElectroMagnetic Compatibility). Disturbing

signals with levels higher than those deﬁned in the speciﬁc

IEC standards can cause unexpected behavior of the robot.

Very high signal levels or excessive exposure can damage the

robot permanently. EMC problems are found to happen usu-

ally in welding processes and are normally prompted by error

messages in the log. Universal Robots cannot be held respon-

sible for any damages caused by EMC problems.

2. I/O cables going from the control box to other machinery and

factory equipment may not be longer than 30m, unless ex-

tended tests are performed.

NOTE:

All voltages and currents are in DC (Direct Current) unless other-

wise speciﬁed.

UR3/CB3 I-20 Version 3.1 (rev. 17782)

4.3 Controller I/O

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

OFF

12V

Remote

24V

PWR

GND

Power

24V

CI1

24V

CI2

24V

CI3

24V

CI0

Configurable Inputs

24V

CI5

24V

CI6

24V

CI7

24V

CI4

CO1

CO2

CO3

CO0

Configurable Outputs

CO5

CO6

CO7

CO4

24V

DI1

24V

DI2

24V

DI3

24V

DI0

Digital Inputs

24V

DI5

24V

DI6

24V

DI7

24V

DI4

DO1

DO2

DO3

DO0

Digital Outputs

DO5

DO6

DO7

DO4

AI1

AO0

AO1

AI0

Analog

Analog Outputs

Analog Inputs

Safeguard Stop

Emergency Stop

GND

24V

PWR

GND

Power

4.3 Controller I/O

This chapter explains how to connect equipment to I/O inside the control box. This

I/O is extremely ﬂexible and can be used for wide range of different equipment;

including pneumatic relays, PLCs and emergency stop buttons.

The illustration below shows the layout of electrical interface inside the control box.

The meaning of the different colors must be observed, see below.

Yellow with red text Dedicated safety signals

Yellow with black text Conﬁgurable for safety

Gray with black text General purpose digital I/O

Green with black text General purpose analog I/O

The “conﬁgurable” I/O can be conﬁgured as either safety-related I/O or general

purpose I/O in the GUI. See more in part II.

How to use the digital I/O is described in the following subsections. The section

describing the common speciﬁcations must be observed.

4.3.1 Common speciﬁcations for all digital I/O

This section deﬁne electrical speciﬁcations for the following 24V digital I/O of the

control box.

• Safety I/O.

• Conﬁgurable I/O.

• General purpose I/O.

It is very important that UR robots are installed according the electrical speciﬁca-

tions, which are the same for all three different kinds of inputs.

It is possible to power the digital I/O from an internal 24V power supply or from an

external power source by conﬁguring the terminal block called “Power”. This block

consists of four terminals. The upper two (PWR and GND) are 24V and ground

from the internal 24V supply. The lower two terminals (24V and 0V) in the block

are the 24V input to supply the I/O. The default conﬁguration is to use the internal

power supply, see below.

Version 3.1 (rev. 17782)

I-21 UR3/CB3

4.3 Controller I/O

24V

PWR

GND

Power

If more current is needed, an external power supply can be connected as shown

below.

The electrical speciﬁcations for both the internal and an external power supply are

shown below.

Terminals Parameter Min Typ Max Unit

Internal 24V power supply

[PWR - GND] Voltage 23 24 25 V

[PWR - GND] Current 0 - 2 A

External 24V input requirements

[24V - 0V] Voltage 20 24 29 V

[24V - 0V] Current 0 - 6 A

The digital I/O are constructed in compliance with IEC 61131-2. The electrical spec-

iﬁcations are shown below.

Terminals Parameter Min Typ Max Unit

Digital outputs

[COx / DOx] Current 0 - 1 A

[COx / DOx] Voltage drop 0 - 0.5 V

[COx / DOx] Leakage current 0 - 0.1 mA

[COx / DOx] Function - PNP - Type

[COx / DOx] IEC 61131-2 - 1A - Type

Digital Inputs

[EIx/SIx/CIx/DIx] Voltage -3 - 30 V

[EIx/SIx/CIx/DIx] OFF region -3 - 5 V

[EIx/SIx/CIx/DIx] ON region 11 - 30 V

[EIx/SIx/CIx/DIx] Current (11-30V) 2 - 15 mA

[EIx/SIx/CIx/DIx] Function - PNP - Type

[EIx/SIx/CIx/DIx] IEC 61131-2 - 3 - Type

NOTE:

The word “conﬁgurable” is used for I/O that can be conﬁgured

as either safety-related I/O or normal I/O. These are the yellow

terminals with black text.

4.3.2 Safety I/O

This section describes the dedicated safety inputs (Yellow terminal with red text)

and the conﬁgurable I/O (Yellow terminals with black text) when conﬁgured as

safety I/O. The common speciﬁcations in section 4.3.1 must be observed.

UR3/CB3 I-22 Version 3.1 (rev. 17782)

4.3 Controller I/O

Safety devices and equipment must be installed according to the safety instructions

and the risk assessment, see chapter 1.

All safety I/O are pairwise (redundant) and must be kept as two separate branches.

A single fault shall not cause loss of the safety function.

The two permanent safety inputs are the emergency stop and the safeguard stop.

The emergency stop input is for emergency stop equipment only. The safeguard

stop input is for all kinds of safety-related protective equipment. The functional

difference is shown below.

Emergency Stop Safeguard Stop

Robot stops moving Yes Yes

Program execution Stops Pauses

Robot power Off On

Reset Manual Automatic or manual

Frequency of use Infrequent Every cycle to infrequent

Requires re-initialization Brake release only No

Stop category (IEC 60204) 1 2

Performance level of

monitoring function (ISO 13849-1) PLd PLd

It is possible to use the conﬁgurable I/O to set up additional safety I/O function-

ality, e.g. emergency stop output. Conﬁguring a set of conﬁgurable I/O for safety

functions are done through the GUI, see part II.

Some examples of how to use safety I/O are shown in the following subsections.

DANGER:

1. Never connect safety signals to a PLC which is not a safety

PLC with the correct safety level. Failure to follow this warn-

ing could result in serious injury or death as one of safety stop

functions could be overridden. It is important to keep safety

interface signals separated from the normal I/O interface sig-

nals.

2. All safety-related I/O are constructed redundantly (Two in-

dependent channels). Keep the two channels separate so that

a single fault cannot lead to loss of the safety function.

3. Safety functions must be veriﬁed before putting the robot into

operation. Safety functions must be tested regularly.

4. The robot installation shall conform to these speciﬁcations.

Failure to do so could result in serious injury or death as the

safety stop function could be overridden.

Version 3.1 (rev. 17782)

I-23 UR3/CB3

4.3.2.1 Default safety conﬁguration

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V

CI1

24V

CI2

24V

CI3

24V

CI0

Configurable Inputs

24V

CI5

24V

CI6

24V

CI7

24V

CI4

CO1

CO2

CO3

CO0

Configurable Outputs

CO5

CO6

CO7

CO4

24V

CI1

24V

CI2

24V

CI3

24V

CI0

Configurable Inputs

24V

CI5

24V

CI6

24V

CI7

24V

CI4

CO1

CO2

CO3

CO0

Configurable Outputs

CO5

CO6

CO7

CO4

The robot is shipped with a default conﬁguration which enables operation without

any additional safety equipment, see illustration below.

4.3.2.2 Connecting emergency stop buttons

In most applications it is required to use one or more extra emergency stop buttons.

The illustration below show how one or more emergency stop buttons.

4.3 Controller I/O

4.3.2.3 Sharing emergency stop with other machines

It is often desired to set up a common emergency stop circuit when the robot is

used together with other machines. By doing so, the operator does not need to

think about which emergency stop buttons to use.

The normal emergency stop input cannot be used for sharing purposes, since both

machines will wait for the each other to go out of the emergency stopped condition.

In order to share the emergency stop function with other machinery, the following

conﬁgurable I/O functions must be conﬁgured through the GUI.

• Conﬁgurable input pair: External emergency stop.

• Conﬁgurable output pair: System emergency stop.

The illustration below shows how two UR robots share their emergency stop func-

tions. In this example the conﬁgured I/Os used are “CI0-CI1” and “CO0-CO1”.

UR3/CB3 I-24 Version 3.1 (rev. 17782)

4.3 Controller I/O

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V 0V

24V

If more than two UR robot or other machines needs to be connected, a safety PLC

is needed to control the emergency stop signals.

4.3.2.4 Safeguard stop with automatic resume

An example of a basic safeguard stop device is a door switch where the robot is

stopped when a door is opened, see illustration below.

This conﬁguration is only intended for application where the operator cannot pass

the door and close it behind him. The conﬁgurable I/O can be used to setup a reset

button outside the door, to reactivate robot motion.

Another example where automatic resume can be appropriate is when using a

safety mat or a safety-related laser scanner, see below.

DANGER:

1. The robot resumes movement automatically when the safe-

guard signal is re-established. Do not use this conﬁguration

if signal can be re-established from the inside of the safety

perimeter.

4.3.2.5 Safeguard stop with reset button

If the safeguard interface is used to interface a light curtain, a reset outside the

safety perimeter is required. The reset button must be a two channel type. In this

example the I/O conﬁgured for reset is “CI0-CI1”, see below.

Version 3.1 (rev. 17782)

I-25 UR3/CB3

24V

EI1

24V

SI0

24V

SI1

24V

EI0

Safety

Safeguard Stop

Emergency Stop

24V 0V

24V

CI1

24V

CI2

24V

CI3

24V

CI0

Configurable Inputs

24V

CI5

24V

CI6

24V

CI7

24V

CI4

4.3.3 General purpose digital I/O

DO1

DO2

DO3

DO0

Digital Outputs

DO5

DO6

DO7

DO4

LOAD

24V

DI1

24V

DI2

24V

DI3

24V

DI0

Digital Inputs

24V

DI5

24V

DI6

24V

DI7

24V

DI4

This section describes the general purpose 24V I/O (Gray terminals) and the con-

ﬁgurable I/O (Yellow terminals with black text) when not conﬁgured as safety I/O.

The common speciﬁcations in section 4.3.1 must be observed.

4.3 Controller I/O

The general purpose I/O can be used to drive equipment like pneumatic relays

directly or for communication with other PLC systems. All digital outputs can be

disabled automatically when program execution is stopped, see more in part II. In

this mode, the output is always low when a program is not running. Examples are

shown in the following subsections. These examples use regular digital outputs

but any conﬁgurable outputs could also have be used if they are not conﬁgured to

perform a safety function.

4.3.3.1 Load controlled by a digital output

This example shows how to connect a load to be controlled from a digital output,

see below.

4.3.4 Digital input from a button

The example below shows how to connect a simple button to a digital input.

UR3/CB3 I-26 Version 3.1 (rev. 17782)

4.3 Controller I/O

24V

DI1

24V

DI2

24V

DI3

24V

DI0

Digital Inputs

24V

DI5

24V

DI6

24V

DI7

24V

DI4

DO1

DO2

DO3

DO0

Digital Outputs

DO5

DO6

DO7

DO4

24V

DI1

24V

DI2

24V

DI3

24V

DI0

Digital Inputs

24V

DI5

24V

DI6

24V

DI7

24V

DI4

DO1

DO2

DO3

DO0

Digital Outputs

DO5

DO6

DO7

DO4

A B

4.3.5 Communication with other machines or PLCs

The digital I/O can be used to communicate with other equipment if a common

GND (0V) is established and if the machine uses PNP technology, see below.

4.3.6 General purpose analog I/O

The analog I/O interface is the green terminal. It can be used to set or measure

voltage (0-10V) or current (4-20mA) from and to other equipment.

The following is recommended to achieve a high accuracy.

• Use the AG terminal closest to the I/O. The pair share a common mode ﬁlter.

• Use the same gnd (0V) for equipment and control box. The analog I/O is not

galvanically isolated from the control box.

• Use a shielded cable or twisted pairs. Connect the shield to the “GND” termi-

nal at the terminal called “Power”.

• Use of equipment that works in current mode. Current signals are less sensi-

tive to interferences.

Input modes can be selected in the GUI, see part II. The electrical speciﬁcations are

shown below.

Version 3.1 (rev. 17782)

I-27 UR3/CB3

4.3 Controller I/O

AI1

AO0

AO1

AI0

Analog

Analog Outputs

Analog Inputs

24V

PWR

GND

Power

Terminals Parameter Min Typ Max Unit

Analog input in current mode

[AIx - AG] Current 4 - 20 mA

[AIx - AG] Resistance - 20 - ohm

[AIx - AG] Resolution - 12 - bit

Analog input in voltage mode

[AIx - AG] Voltage 0 - 10 V

[AIx - AG] Resistance - 10 - Kohm

[AIx - AG] Resolution - 12 - bit

Analog output in current mode

[AOx - AG] Current 4 - 20 mA

[AOx - AG] Voltage 0 - 10 V

[AOx - AG] Resolution - 12 - bit

Analog output in voltage mode

[AOx - AG] Voltage 0 - 10 V

[AOx - AG] Current -20 - 20 mA

[AOx - AG] Resistance - 1 - ohm

[AOx - AG] Resolution - 12 - bit

The following examples show how to use the analog I/O.

4.3.6.1 Using an analog output

Below is an example of how to control a conveyor belt with an analog speed control

input.

4.3.6.2 Using an Analog Input

Below is an example of how to connect an analog sensor.

UR3/CB3 I-28 Version 3.1 (rev. 17782)

4.3 Controller I/O

AI1

AO0

AO1

AI0

Analog

Analog Outputs

Analog Inputs

24V

PWR

GND

Power

4.3.7 Remote ON/OFF control

Remote ON/OFF control can be used to turn the control box on and off without

using the teach pendant. It is typically used in the following applications:

• When the teach pendant is inaccessible.

• When a PLC system must have full control.

• When several robots must be turned on or off at the same time.

The remote ON/OFF control provides a small auxiliary 12V supply, which is kept

active when the controller box is turned off. The “on” and “off” inputs are intended

for short time activation only. The on input works in the same way as the power

button. Always use the “off” input for remote off control as this signal allows the

control box safe ﬁles and shut down nicely.

The electrical speciﬁcations are shown below.

Terminals Parameter Min Typ Max Unit

[12V - GND] Voltage 10 12 13 V

[12V - GND] Current - - 100 mA

[ON / OFF] Inactive voltage 0 - 0.5 V

[ON / OFF] Active voltage 5 - 12 V

[ON / OFF] Input current - 1 - mA

[ON] Activation time 200 - 600 ms

The following examples show how to use remote ON/OFF.

NOTE:

A special feature in the software can be used to load and start pro-

grams automatically, see part II.

Version 3.1 (rev. 17782)

CAUTION:

1. Never use the “on” input or the power button to turn off the

control box.

I-29 UR3/CB3

4.3.7.1 Remote ON button

OFF

12V

Remote

GND

OFF

12V

Remote

GND

The illustration below shows how to connect a remote on button.

4.3.7.2 Remote OFF button

The illustration below shows how to connect a remote off button.

4.4 Tool I/O

At the tool end of the robot there is a small connector with eight pins, see illustration

below.

This connector provides power and control signals for grippers and sensors used

on a speciﬁc robot tool. The following industrial cables are suitable:

• Lumberg RKMV 8-354.

The eight wires inside the cable have different colors. The different colors designate

different functions, see table below:

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)

The internal power supply can be set to either 0V, 12V or 24V at the I/O tab the

GUI, see part II. The electrical speciﬁcations are shown below:

UR3/CB3 I-30 Version 3.1 (rev. 17782)

4.4 Tool I/O

Parameter Min Typ Max Unit

Supply voltage in 24V mode - 24 - V

Supply voltage in 12V mode - 12 - V

Supply current in both modes - - 600 mA

The following sections describe the different I/O’s of the tool.

DANGER:

1. Construct tools and gripper so that an interruption of power

does not create any hazards. E.g. a work-piece falling out of

the tool.

2. Take care when using 12V, since an error made by the pro-

grammer can cause the voltage to change to 24V, which might

damage the equipment and cause a ﬁre.

NOTE:

The tool ﬂange is connected to GND (same as the red wire).

4.4.1 Tool Digital Outputs

The digital outputs are implemented as NPN. When a digital output is activated

the corresponding connection is driven to GND, and when it is deactivated the cor-

responding connection is open (open-collector/open-drain). The electrical speciﬁ-

cations are shown below:

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 0 - 1 A

An example of how to use a digital output is shown in the following subsection.

CAUTION:

1. The digital outputs in the tool are not current limited and

4.4.1.1 Using the Tool Digital Outputs

The example below 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.

overriding the speciﬁed data can cause permanent damage.

Version 3.1 (rev. 17782)

I-31 UR3/CB3

DO8

POWER

4.4.2 Tool Digital Inputs

DI8

POWER

The digital inputs are implemented as PNP with weak pull-down resistors. This

means that a ﬂoating input will always read low. The electrical speciﬁcations are

shown below.

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

An example of how to use a digital input is shown in the following subsection.

4.4.2.1 Using the Tool Digital Inputs

The example below shows how to connect a simple button.

4.4 Tool I/O

4.4.3 Tool Analog Inputs

The tool analog inputs are non-differential and can be set to either voltage and

current on the I/O tab, see part II. The electrical speciﬁcations are shown below.

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

Two examples of how to use an analog inputs are shown in the following subsec-

tions.

CAUTION:

1. Analog inputs are not protected against over voltage in cur-

rent mode. Overrating the limit in the electrical speciﬁcation

can cause permanent damage to the input.

UR3/CB3 I-32 Version 3.1 (rev. 17782)

4.5 Ethernet

GND

POWER

AI8

POWER

AI8

GND

4.4.3.1 Using the Tool Analog Inputs, Non-differential

The example below shows how to connect an analog sensor with a non-differential

output. 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.

4.4.3.2 Using the Tool Analog Inputs, Differential

The example below shows how to connect an analog sensor with a differential out-

put. Connect the negative output part to GND (0V) and it works in the same way

as a non-differential sensor.

4.5 Ethernet

An Ethernet connection is provided at the bottom of the control box, see illustration

below.

The Ethernet interface can be used for the following:

• MODBUS I/O expansion modules. See more in part II.

• Remote access and control.

The electrical speciﬁcations are shown below.

Parameter Min Typ Max Unit

Communication speed 10 - 100 Mb/s

Version 3.1 (rev. 17782)

I-33 UR3/CB3

4.6 Mains connection

The mains cable from the controller box has a standard IEC plug in the end. Con-

nect a country speciﬁc mains plug or cable to the IEC plug.

In order to energize the robot, the control box must be connected to the mains. This

must be done through the standard IEC C20 plug at the bottom of the control box

through a corresponding IEC C19 cord, see illustration below.

The mains supply shall be equipped with the following as a minimum:

• Connection to earth.

4.6 Mains connection

• Main fuse.

• Residual current device.

It is recommended to install a main switch to power of all equipment in the robot

application as an easy means for lockout and tagout under service.

The electrical speciﬁcations are shown in the table below.

Parameter Min Typ Max Unit

Input voltage 100 - 240 VAC

External mains fuse (@ 100-200V) 8 - 16 A

External mains fuse (@ 200-240V) 8 - 16 A

Input frequency 47 - 63 Hz

Stand-by power - - 0.5 W

Nominal operating power 90 150 325 W

UR3/CB3 I-34 Version 3.1 (rev. 17782)

4.7 Robot connection

DANGER:

1. Make sure that the robot is grounded correctly (Electrical

connection to earth). Use the unused bolts associated with

grounding symbols inside the controller box to create com-

mon grounding of all equipment in the system. The ground-

ing conductor shall have at least the current rating of the high-

est current in the system.

2. Make sure that the input power to the controller box is pro-

tected with a RCD (Residual Current Device) and a correct

fuse.

3. Lockout and tagout all power for the complete robot installa-

tion during service. Other equipment shall not supply volt-

age to the robot I/O when the system is locked out.

4. Make sure that all cables are connected correctly before the

controller box is powered. Always use an original and correct

power cord.

4.7 Robot connection

The cable from the robot must be plugged into the connector at bottom of the con-

trol box, see illustration below. Ensure that the connector is properly locked before

turning on the robot arm. Disconnecting the robot cable may only be done when

the robot power is turned off.

CAUTION:

Version 3.1 (rev. 17782)

1. Do not disconnect the robot cable when the robot arm is

turned on.

2. Do not extend or modify the original cable.

I-35 UR3/CB3

4.7 Robot connection

UR3/CB3 I-36 Version 3.1 (rev. 17782)

5 Safety-related Functions and Interfaces

UR robots are equipped with a range of built-in safety-related functions as well

as safety-related electrical interfaces to connect to other machines and additional

protective devices. Each safety function and interface is monitored according to

ISO 13849-1 (see Chapter 8 for certiﬁcations) with Performance Level d (PLd).

NOTE:

If the robot discovers a fault in the safety system, e.g. one of the

wires in the emergency stop circuit is cut, or a position sensor is

broken, a category 0 stop is initiated. The worst case reaction time,

from the time an error occurs to the point in time that it is detected,

and the robot is stopped and powered off, is 1250ms.

Part II of the PolyScope Manual describes conﬁguration of the safety-related fea-

tures, inputs, and outputs. See Chapter 4 for descriptions on how to connect safety

devices to the electrical interface.

5.1 Limiting Safety-related Functions

The robot has a number of safety-related functions that can be used to limit the

movement of its joints and of the robot Tool Center Point (TCP). The TCP is the

center point of the output ﬂange with the addition of the TCP offset (see Part II, the

PolyScope Manual).

The limiting safety-related functions are:

Limiting Safety

Function

Joint position Min. and max. angular joint position

Joint speed Max. angular joint speed

TCP position Planes in Cartesian space limiting robot TCP position

TCP speed Max. speed of the robot TCP

TCP force Max. pushing force of the robot TCP

Momentum Max. momentum of the robot arm

Power Max. applied robot arm power

Advanced path control software decreases speed or issues a program execution

stop if the robot arm approaches a safety-related limit. Violations of limits will

hence only occur in exceptional cases. Nevertheless, if a limit is violated, the safety

system issues a category 0 stop with the performance listed in the table:

Description

Version 3.1 (rev. 17782)

I-37 UR3/CB3

5.1 Limiting Safety-related Functions

450 mm

200 mm

Figure 5.1: Certain areas of the workspace should receive attention regarding pinching hazards, due to the physical properties of the robot arm. One area is deﬁned for radial motions, when the wrist 1 joint is at a distance of at least 450mm from the base of the robot. The other area is within 200mm of the base of the robot, when moving in the tangential direction.

Worst Case

Limiting Safety

Function

Joint position 1.15

Joint speed 1.15◦/s 250 ms 1000 ms 1250 ms

TCP position 20 mm 100ms 1000 ms 1100 ms

TCP orientation 1.15

TCP speed 50mm/s 250 ms 1000 ms 1250 ms

TCP force 25 N 250 ms 1000 ms 1250 ms

Momentum 3

Power 10 W 250 ms 1000 ms 1250 ms

Trueness Detection

Time

◦

kg m

100 ms 1000 ms 1100 ms

/s 250 ms 1000 ms 1250 ms

De-energizing

Time

Reaction

Time

The system is considered de-energized when the 48 V bus voltage reaches an electri-

cal potential below 7.3 V. The de-energizing time is the time from a detection of an

event until the system has been de-energized.

WARNING:

There are two exceptions to the force limiting function that are im-

portant to notice when designing the work cell for the robot. These

are illustrated in Figure 5.1. As the robot stretches out, the knee-

joint effect can give high forces in the radial direction (away from

the base), but at the same time, low speeds. Similarly, the short

leverage arm, when the tool is close to the base and moving tan-

gential (around) the base, can cause high forces, but also at low

speeds. Pinching hazards can be avoided for instance by, removing

obstacles in these areas, placing the robot differently, or by using a

combination of safety planes and joint limits to remove the hazard

by preventing the robot moving into this region of its workspace.

UR3/CB3 I-38 Version 3.1 (rev. 17782)

5.2 Safety Modes

Normal and Reduced mode The safety system has two conﬁgurable safety modes:

Normal and Reduced. Safety limits can be conﬁgured for each of these two modes.

Reduced mode is active when the robot TCP is positioned beyond a Trigger Reduced

mode plane or when triggered by a safety input.

On the side of the Trigger Reduced mode planes where the normal mode limit set is

deﬁned, there is an area of 20 mm where the reduced mode limit set is accepted.

When Reduced mode is triggered by a safety input, both limit sets are accepted for

500 ms.

Recovery Mode When a safety limit is violated, the safety system must be restarted.

If the system is outside a safety limit at start-up (e.g. outside a joint position limit),

the special Recovery mode is entered. In Recovery mode it is not possible to run pro-

grams for the robot, but the robot arm can be manually moved back within limits

either by using Freedrive mode or by using the Move tab in PolyScope (see part II of

the PolyScope Manual). The safety limits of Recovery mode are:

Limiting Safety Function Limit

Joint speed 30◦/s

TCP speed 250mm/s

TCP force 100 N

Momentum 10

Power 80 W

The safety system issues a category 0 stop if a violation of these limits appears.

WARNING:

Notice that limits for the joint position, the TCP position, and the

TCP orientation are disabled in Recovery Mode. Take caution when

moving the robot arm back within the limits.

5.3 Safety-related Electrical Interfaces

The robot is equipped with several safety-related electrical inputs and outputs. All

safety-related electrical inputs and outputs are dual channel. They are safe when

low, e.g. the emergency stop is not active when the signal is high (+24V).

kg m

5.3.1 Safety-related Electrical Inputs

The table below gives an overview of the safety-related electrical inputs.

Version 3.1 (rev. 17782)

I-39 UR3/CB3

5.3 Safety-related Electrical Interfaces

Max joint speed in normal mode

[rad/s]

[s]

time

0.5240.024

Figure 5.2: The green area below the ramp is the allowed speeds for a joint during braking. At time 0 an event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration begins after 24 ms.

Safety Input Description

Robot emergency stop Performs a category 1 stop, informing other machines

using the System emergency stop output.

Emergency stop button Performs a category 1 stop, informing other machines

using the System emergency stop output.

System emergency stop Performs a category 1 stop.

Safeguard stop Performs a category 2 stop.

Safeguard reset input Resumes the robot from a Safeguard stopped state, when

an edge on the Safeguard reset input occurs.

Reduced mode The safety system transitions to Reduced mode limits.

A category 1 and 2 stop decelerates the robot with drive power on, which enables

the robot to stop without deviating from its current path.

Monitoring of safety inputs Category 1 and 2 stops are monitored by the safety

system in the following way:

1. The safety system monitors that the braking initiates within 24 ms, see Fig-

ure 5.2.

2. If a joint is moving, its speed is monitored to never be higher than the speed

obtained by constantly decelerating from the maximum joint speed limit for

Normal mode to 0

3. If a joint is at rest (joint speed is less than 0.2

rad

/s in 500 ms.

rad

/s), it is monitored that it does

not move more than 0.05 rad from the position it had when the speed was

measured below 0.2

rad

/s.

Additionally, for a category 1 stop, the safety system monitors that after the robot

arm is at rest, the powering off is ﬁnalized within 600 ms. Furthermore, after a

safeguard stop input, the robot arm is only allowed to start moving again after a

positive edge on the safeguard reset input occurs. If any of the above properties are

not satisﬁed, the safety system issues a category 0 stop.

UR3/CB3 I-40 Version 3.1 (rev. 17782)

5.3 Safety-related Electrical Interfaces

A transition to Reduced mode triggered by the reduced mode input is monitored as

follows:

1. The safety system accepts both Normal and Reduced mode limit sets for 500ms

after the reduced mode input is triggered.

2. After 500 ms, only the Reduced mode limits are in effect.

If any of the above properties are not satisﬁed, the safety system issues a category

0 stop.

A category 0 stop is performed by the safety system with the performance de-

scribed in the following table. The worst-case reaction time is the time to stop and

to de-energize (discharge to an electrical potential below 7.3 V) a robot running at

full speed and payload.

Safety Input Function Detection

Robot emergency stop 250 ms 1000 ms 1250 ms

Emergency stop button 250 ms 1000 ms 1250 ms

System emergency stop 250 ms 1000 ms 1250 ms

Safeguard stop 250ms 1000 ms 1250 ms

Time

Worst Case

De-energizing

Time

Reaction

Time

5.3.2 Safety-related Electrical Outputs

The table below gives an overview of the safety-related electrical outputs:

Safety Output Description

System emergency stop Activated by an active Robot emergency stop input or by

Robot moving While this signal is inactive, no single joint of the robot

Robot not stopping Inactive when the robot arm has been requested to stop

Reduced mode Active when the safety system is in Reduced mode.

Not reduced mode The Reduced mode output negated.

If a safety output is not set properly, the safety system issues a category 0 stop, with

the following worst-case reaction times:

Safety Output Worst Case Reaction Time

System emergency stop 1100 ms

Robot moving 1100 ms

Robot not stopping 1100 ms

Reduced mode 1100 ms

Not reduced mode 1100 ms

the Emergency stop button.

arm moves more than 0.1 rad.

and has not stopped yet.

Version 3.1 (rev. 17782)

I-41 UR3/CB3

5.3 Safety-related Electrical Interfaces

UR3/CB3 I-42 Version 3.1 (rev. 17782)

6 Maintenance and Repair

It is essential for both maintenance and repair work that it be performed in compli-

ance with all safety instructions in this manual.

Maintenance, calibration and repair work must be performed according to the newest

versions of Service Manuals found on the support website http://support.

universal-robots.com. All UR distributors have access to this support site.

Repairs shall only be performed by authorized system integrators or by Universal

Robots.

All parts returned to Universal Robots shall be returned according to the service

manual.

6.1 Safety Instructions

After maintenance and repair work, checks must be carried out to ensure the re-

quired safety level. The valid national or regional work safety regulations must be

observed for this check. The correct functioning of all safety functions shall also be

tested.

The purpose of maintenance and repair work is to ensure that the system is kept

operational or, in the event of a fault, to return the system to an operational state.

Repair work includes troubleshooting in addition to the actual repair itself.

The following safety procedures and warnings must be observed when working on

the robot arm or control box.

DANGER:

1. Do not change anything in the safety conﬁguration of the

software (e.g. the force limit). The safety conﬁguration is de-

scribed in the PolyScope Manual. If any safety parameter is

changed, the complete robot system shall be considered new,

meaning that the overall safety approval process, including

risk assessment, shall be updated accordingly.

2. Replace faulty components using new components with the

same article numbers or equivalent components approved by

Universal Robots for this purpose.

3. Reactivate any deactivated safety measures immediately after

the work is completed.

Version 3.1 (rev. 17782)

4. Document all repairs andsave this documentation in the tech-

nical ﬁle associated with the complete robot system.

I-43 UR3/CB3

6.1 Safety Instructions

DANGER:

1. Remove the mains input cable from the bottom of the control

box to ensure that it is completely unpowered. Deenergize

any other source of energy connected to the robot arm or con-

trol box. Take necessary precautions to prevent other persons

from energizing the system during the repair period.

2. Check the earth connection before re-powering the system.

3. Observe ESD regulations when parts of the robot arm or con-

trol box are disassembled.

4. Avoid disassembling the power supplies inside the control

box. High voltages (up to 600 V) can be present inside these

power supplies for several hours after the control box has

been switched off.

5. Prevent water and dust from entering the robot arm or control

box.

UR3/CB3 I-44 Version 3.1 (rev. 17782)

7 Disposal and Environment

UR robots must be disposed of in accordance with the applicable national laws,

regulations and standards.

UR robots are produced with restricted use of hazardous substances to protect the

environment; as deﬁned by the European RoHS directive 2011/65/EU. These sub-

stances include mercury, cadmium, lead, chromium VI, polybrominated biphenyls

and polybrominated diphenyl ethers.

Fee for disposal and handling of electronic waste of UR robots sold on the Danish

market is prepaid to DPA-system by Universal Robots A/S. Importers in countries

covered by the European WEEE Directive 2012/19/EU must make their own regis-

tration to the national WEEE register of their country. The fee is typically less than

1€/robot. A list of national registers can be found here: https://www.ewrn.

org/national-registers.

The following symbols are afﬁxed on the robot to indicate conformity with the

above legislations:

Version 3.1 (rev. 17782)

I-45 UR3/CB3

UR3/CB3 I-46 Version 3.1 (rev. 17782)

8 Certiﬁcations

This chapter presents a range of different certiﬁcations and declarations that have

been prepared for the product.

8.1 Third Party Certiﬁcations

Third party certiﬁcations are voluntary. However, to provide the best service to

robot integrators, UR has chosen to certify their robots at the following recognized

test institutes:

T¨UV NORD UR robots are safety approved by T¨UV NORD,

a notiﬁed body under the machinery directive

2006/42/EC in EU. A copy of the T¨UV NORD

safety approval certiﬁcate can be found in ap-

pendix B.

DELTA UR robots are safety and performance tested by

DELTA. An electromagnetic compatibility (EMC)

certiﬁcate can be found in appendix B. An en-

vironmental test certiﬁcate can be found in ap-

pendix B.

8.2 Declarations According to EU directives

EU declarations are primarily relevant for European countries. However, some

countries outside Europe recognize or even require them, too. European directives

are available from the ofﬁcial homepage: http://eur-lex.europa.eu.

UR robots are certiﬁed according to the directives listed below.

2006/42/EC — Machinery Directive (MD)

UR Robots are partly completed machinery according to the Machinery Directive

2006/42/EC. Note that a CE mark is not afﬁxed according to this directive for partly

completed machinery. If the UR robot is used in a pesticide application, then note

the presence of directive 2009/127/EC. The declaration of incorporation according

to 2006/42/EC annex II 1.B. is shown in appendix B.

2006/95/EC — Low Voltage Directive (LVD)

2004/108/EC — Electromagnetic Compatibility (EMC)

2011/65/EU — Restriction of the use of certain Hazardous Substances (RoHS)

2012/19/EU — Waste of Electrical and Electronic Equipment (WEEE)

Declarations of conformity with the above Directives are included in the declara-

tion of incorporation in appendix B.

Version 3.1 (rev. 17782)

I-47 UR3/CB3

8.2 Declarations According to EU directives

A CE mark is afﬁxed according to CE marking directives above. Regarding waste

of electric and electronic equipment see chapter 7.

For information about standards applied during the development of the robot, see

appendix C.

UR3/CB3 I-48 Version 3.1 (rev. 17782)

9.1 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 (max-

imum 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 un-

der 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 neg-

ligence. 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

be liable for any indirect, incidental, special or consequential damages, including

but not limited to, lost proﬁts, loss of use, loss of production or damage to other

production equipment.

9 Warranties

In case of a device exhibiting defects, Universal Robots shall not cover any conse-

quential damage or loss, such as loss of production or damage to other production

equipment.

9.2 Disclaimer

Universal Robots continues to improve reliability and performance of its products,

and therefore reserves 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.

Version 3.1 (rev. 17782)

I-49 UR3/CB3

9.2 Disclaimer

UR3/CB3 I-50 Version 3.1 (rev. 17782)

A Stopping Time and Stopping Distance

The information about stopping times and distances is available for both CATE-

GORY 0 and CATEGORY 1 stops. This appendix includes the information re-

garding stop CATEGORY 0. Information on CATEGORY 1 stop is available on

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

A.1 CATEGORY 0 stopping distances and times

The table below includes the stopping distances and times measured when a CAT-

EGORY 0 stop is triggered. These measurements correspond to the following con-

ﬁguration of the robot:

• Extension: 100% (the robot arm is fully extended horizontally).

• Speed: 100% (the general speed of the robot is set to 100% and the movement

is performed at a joint speed of 183◦/s).

• Payload: maximum payload handled by the robot attached to the TCP (3 kg).

The test on the Joint 0 was carried out by performing a horizontal movement, i.e.

the axis of rotation was perpendicular to the ground. During the tests for Joint 1

and 2 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to

the ground, and the stop was performed while the robot was moving downwards.

Stopping Distance (rad) Stopping time (ms)

Joint 0 (BASE) 0.18 159

Joint 1 (SHOULDER) 0.20 154

Joint 2 (ELBOW) 0.15 92

Version 3.1 (rev. 17782)

I-51 UR3/CB3

A.1 CATEGORY 0 stopping distances and times

UR3/CB3 I-52 Version 3.1 (rev. 17782)

B Declarations and Certiﬁcates

B.1 CE Declaration of Incorporation (original)

According to European directive 2006/42/EC annex II 1.B.

The manufacturer Universal Robots A/S

Energivej 25

5260 Odense S

Denmark

+45 8993 8989

hereby declares that the product described below

Industrial robot UR3

Robot serial number

Control box serial number

may not be put into service before the machinery in which it will be incorporated is declared to comply

with the provisions of Directive 2006/42/EC, as amended by Directive 2009/127/EC, and with the

regulations transposing it into national law.

The safety features of the product are prepared for compliance with all essential requirements of Direc-

tive 2006/42/EC under the correct incorporation conditions, see product manual. Compliance with all

essential requirements of Directive 2006/42/EC relies on the speciﬁc robot installation and the ﬁnal risk

assessment.

Relevant technical documentation is compiled according to Directive 2006/42/EC annex VII part B.

Additionally the product declares in conformity with the following directives, according to which the

product is CE marked:

2006/95/EC — Low Voltage Directive (LVD)

2004/108/EC — Electromagnetic Compatibility Directive (EMC)

2011/65/EU — Restriction of the use of certain hazardous substances (RoHS)

A complete list of applied harmonized standards, including associated speciﬁcations, is provided in the

product manual. This list is valid for the product manual with the same serial numbers as this document

and the product.

Odense, January 27th, 2015

R&D

Lasse Kieffer Global Compliance Ofﬁcer

Version 3.1 (rev. 17782)

I-53 UR3/CB3

B.2 Safety System Certiﬁcate

UR3/CB3 I-54 Version 3.1 (rev. 17782)

B.3 Environmental Test Certiﬁcate

DELTA - Venlighedsvej 4 - 2970 Hørsholm - Denmark - Tel. +45 72 19 40 00 - Fax +45 72 19 40 01 - www.delta.dk

20a ss- shee t-j

Climatic and mechanical assessment sheet no. 1375

DELTA client

DELTA project no.

Universal Robots A/S Energivej 25 5260 Odense S Denmark

T209612 and T209963

Product identification

Robot system UR3, consisting of: UR3 Robot Arm CB 3.1 Control Box TP 3.1 Teach Pendant

DELTA report(s)

DELTA project no. T209612, DANAK-19/14749 DELTA project no. T209963, DANAK-19/14964

C Applied Standards

This section describes relevant standards applied under the development of the robot arm and control

box. Whenever a European Directive number is noted in brackets, it indicates that the standard is

harmonized according to that Directive.

A standard is not a law. A standard is a document developed by stakeholders within a given industry,

deﬁning the normal safety and performance requirements for a product or product group.

Standard type abbreviations mean the following:

ISO International Standardization Organization

IEC International Electrotechnical Commission

EN European Norm

TS Technical Speciﬁcation

TR Technical Report

ANSI American National Standards Institute

RIA Robotic Industries Association

CSA Canadian Standards Association

Conformity with the following standards is only guaranteed if all assembly instructions, safety instruc-

tions and guidance in this manual are followed.

ISO 13849-1:2006 [PLd]

ISO 13849-2:2012

EN ISO 13849-1:2008 (E) [PLd – 2006/42/EC]

EN ISO 13849-2:2012 (E) (2006/42/EC)

Safety of machinery – Safety-related parts of control systems

Part 1: General principles for design

Part 2: Validation

The safety control system is designed as Performance Level d (PLd) according to the requirements of

these standards.

ISO 13850:2006 [Stop category 1]

EN ISO 13850:2008 (E) [Stop category 1 - 2006/42/EC]

Safety of machinery – Emergency stop – Principles for design

The emergency stop function is designed as a stop category 1 according to this standard. Stop category

1 is a controlled stop with power to the motors to achieve the stop and then removal of power when the

stop is achieved.

Version 3.1 (rev. 17782)

I-57 UR3/CB3

ISO 12100:2010

EN ISO 12100:2010 (E) [2006/42/EC]

Safety of machinery – General principles for design – Risk assessment and risk reduction

UR robots are evaluated according to the principles of this standard.

ISO 10218-1:2011

EN ISO 10218-1:2011(E) [2006/42/EC]

Robots and robotic devices – Safety requirements for industrial robots

Part 1: Robots

This standard is intended for the robot manufacturer, not the integrator. The second part (ISO 10218-2)

is intended for the robot integrator, as it deals with the installation and design of the robot application.

The writers of the standard implicitly envisioned traditional industrial robots, which are traditionally

safeguarded by fences and light curtains. UR robots are designed with force and power limiting enabled

at all times. Therefore, some concepts are clariﬁed and explained below.

If a UR robot is used in a hazardous application, additional safety measures might be required, see

chapter 1 of this manual.

Clariﬁcation:

• “3.24.3 Safeguarded space” is deﬁned by the perimeter safeguarding. Typically, the safeguarded

space is a space behind a fence, which protects people from the hazardous traditional robots. UR

robots are designed to work without a fence using a built-in power and force limiting safety func-

tion, where there is no hazardous safeguarded space deﬁned by the perimeter of a fence.

• “5.4.2 Performance requirement”. All safety functions are constructed as PLd according to ISO 13849-

1:2006. The robot is constructed with redundant encoder systems in each joint, and the safety-rated

I/Os are constructed with a category 3 structure. The safety-rated I/Os must be connected accord-

ing to this manual to category 3 safety-rated equipment to form a PLd structure of the complete

safety function.

• “5.7 Operating modes”. UR robots do not have different operating modes and therefore they do not

have a mode selector.

• “5.8 Pendant controls”. This section deﬁnes protective features for the teach pendant, when it is to

be used within a hazardous safeguarded space. Since UR robots are power and force limited, there

is no hazardous safeguarded space like with traditional robots. UR robots are safer to teach than

traditional robots. Instead of having to release a three-positioning enabling device, the operator can

simply stop the robot with his hand.

• “5.10 Collaborative operation requirements”. The power and force limiting function of UR robots is

always active. The visual design of the UR robots indicates that the robots are capable of being used

for collaborative operations. The power and force limiting function is designed according to clause

5.10.5.

• “5.12.3 Safety-rated soft axis and space limiting”. This safety function is one of more safety func-

tions conﬁgurable through software. A hash code is generated from the sittings of all these safety

functions and is represented as a safety check identiﬁer in the GUI.

UR3/CB3 I-58 Version 3.1 (rev. 17782)

ISO/DTS 15066 (Draft)

Robots and robotic devices – Safety requirements for industrial robots – Collaborative operation

This is a Technical Speciﬁcation (TS) under preparation. A TS is not a standard. The purpose of a TS is

to present a set of immature requirements to see if they are useful for a given industry.

This TS presents technologies and force-related safety limits for collaborative robots, where the robot

and the human work together to perform a work task.

Universal Robots is an active member of the international committee that develops this TS (ISO/TC

184/SC 2). A ﬁnal version might be published in 2016.

ANSI/RIA R15.06-2012

Industrial Robots and Robot Systems – Safety Requirements

This American standard is the ISO standards ISO 10218-1 (see above) and ISO 10218-2 combined into

one document. The language is changed from British English to American English, but the content is

the same.

Note that part two (ISO 10218-2) of this standard is intended for the integrator of the robot system, and

not Universal Robots.

CAN/CSA-Z434-14

Industrial Robots and Robot Systems – General Safety Requirements

This Canadian standard is the ISO standards ISO 10218-1 (see above) and -2 combined into one docu-

ment. CSA added additional requirements for the user of the robot system. Some of these requirements

might need to be addressed by the robot integrator.

Note that part two (ISO 10218-2) of this standard is intended for the integrator of the robot system, and

not Universal Robots.

IEC 61000-6-2:2005

IEC 61000-6-4/A1:2010

EN 61000-6-2:2005 [2004/108/EC]

EN 61000-6-4/A1:2011 [2004/108/EC]

Electromagnetic compatibility (EMC)

Part 6-2: Generic standards - Immunity for industrial environments

Part 6-4: Generic standards - Emission standard for industrial environments

These standards deﬁne requirements for the electrical and electromagnetic disturbances. Conforming

to these standards ensures that the UR robots perform well in industrial environments and that they do

not disturb other equipment.

Version 3.1 (rev. 17782)

I-59 UR3/CB3

IEC 61326-3-1:2008

EN 61326-3-1:2008

Electrical equipment for measurement, control and laboratory use - EMC requirements

Part 3-1: Immunity requirements for safety-related systems and for equipment intended to perform safety-related

functions (functional safety) - General industrial applications

This standard deﬁnes extended EMC immunity requirements for safety-related functions. Conforming

to this standard ensures that the safety functions of UR robots provide safety even if other equipment

exceeds the EMC emission limits deﬁned in the IEC 61000 standards.

IEC 61131-2:2007 (E)

EN 61131-2:2007 [2004/108/EC]

Programmable controllers

Part 2: Equipment requirements and tests

Both normal and safety-rated 24V I/Os are constructed according to requirements of this standard to

ensure reliable communication with other PLC systems.

ISO 14118:2000 (E)

EN 1037/A1:2008 [2006/42/EC]

Safety of machinery – Prevention of unexpected start-up

These two standards are very similar. They deﬁne safety principles for avoiding unexpected start-up,

both as a result of unintended repowering during maintenance or repair, and as a result of unintended

start-up commands from a control perspective.

IEC 60947-5-5/A1:2005

EN 60947-5-5/A11:2013 [2006/42/EC]

Low-voltage switchgear and controlgear

Part 5-5: Control circuit devices and switching elements - Electrical emergency stop device with mechanical

latching function

The direct opening action and the safety lock mechanism of the emergency stop button comply with

requirements in this standard.

IEC 60529:2013

EN 60529/A2:2013

Degrees of protection provided by enclosures (IP Code)

This standard deﬁnes enclosure ratings regarding protection against dust and water. UR robots are

designed and classiﬁed with an IP code according to this standard, see robot sticker.

UR3/CB3 I-60 Version 3.1 (rev. 17782)

IEC 60320-1/A1:2007

EN 60320-1/A1:2007 [2006/95/EC]

Appliance couplers for household and similar general purposes

Part 1: General requirements

The mains input cable complies with this standard.

ISO 9409-1:2004 [Type 50-4-M6]

Manipulating industrial robots – Mechanical interfaces

Part 1: Plates

The tool ﬂange on UR robots conforms to type 50-4-M6 of this standard. Robot tools should also be

constructed according to this standard to ensure proper ﬁtting.

ISO 13732-1:2006

EN ISO 13732-1:2008 [2006/42/EC]

Ergonomics of the thermal environment – Methods for the assessment of human responses to contact with surfaces

Part 1: Hot surfaces

The UR robots are designed so that the surface temperature is kept under the ergonomic limits deﬁned

in this standard.

IEC 61140/A1:2004

EN 61140/A1:2006 [2006/95/EC]

Protection against electric shock – Common aspects for installation and equipment

UR robots are constructed in compliance with this standard to provide protection against electrical

shock. A protective earth/ground connection is mandatory, as deﬁned in the Hardware Installation

Manual.

IEC 60068-2-1:2007

IEC 60068-2-2:2007

IEC 60068-2-27:2008

IEC 60068-2-64:2008

EN 60068-2-1:2007

EN 60068-2-2:2007

EN 60068-2-27:2009

EN 60068-2-64:2008

Environmental testing

Part 2-1: Tests - Test A: Cold

Part 2-2: Tests - Test B: Dry heat

Part 2-27: Tests - Test Ea and guidance: Shock

Version 3.1 (rev. 17782)

I-61 UR3/CB3

Part 2-64: Tests - Test Fh: Vibration, broadband random and guidance

UR robots are tested according to the test methods deﬁned in these standards.

IEC 61784-3:2010

EN 61784-3:2010 [SIL 2]

Industrial communication networks – Proﬁles

Part 3: Functional safety ﬁeldbuses – General rules and proﬁle deﬁnitions

This standards deﬁnes requirements for safety-rated communication buses.

IEC 60204-1/A1:2008

EN 60204-1/A1:2009 [2006/42/EC]

Safety of machinery – Electrical equipment of machines

Part 1: General requirements

The general principles of this standard are applied.

IEC 60664-1:2007

IEC 60664-5:2007

EN 60664-1:2007 [2006/95/EC]

EN 60664-5:2007 [2006/95/EC]

Insulation coordination for equipment within low-voltage systems

Part 1: Principles, requirements and tests

Part 5: Comprehensive method for determining clearances and creepage distances equal to or less than 2 mm

The electrical circuitry of UR robots is designed in compliance with this standard.

EUROMAP 67:2015, V1.10

Electrical Interface between Injection Molding Machine and Handling Device / Robot

UR robots equipped with the E67 accessory module to interface injection molding machines comply

with this standard.

UR3/CB3 I-62 Version 3.1 (rev. 17782)

D Technical Speciﬁcations

Robot type UR3 Weight 9.4 kg / 20.7 lb Payload 3 kg / 6.6 lb Reach 500 mm / 19.7 in Joint ranges Unlimited for Wrist 3, ± 360◦for all other joints Speed Base, Shoulder and Elbow joints: Max 180◦/s.

Wrist 1, 2, 3 joints: Max 360◦/s.

Tool: Approx. 1m/s / Approx. 39.4in/s. Repeatability ± 0.1 mm / ± 0.0039 in (4 mils) Footprint Ø128 mm / 5.0 in Degrees of freedom 6 rotating joints Control box size (W × H × D) 475 mm × 423 mm × 268 mm / 18.7 in × 16.7 in × 10.6 in Control box I/O ports 16 digital in, 16 digital out, 2 analogue in, 2 analogue out Tool I/O ports 2 digital in, 2 digital out, 2 analogue in I/O power supply 24 V 2 A in control box and 12 V/24 V 600 mA in tool Communication TCP/IP 100 Mbit: IEEE 802.3u, 100BASE-TX

Ethernet socket & Modbus TCP Programming PolyScope graphical user interface on

12” touchscreen with mounting Noise Comparatively noiseless IP classiﬁcation IP54 Power consumption Approx. 100 W using a typical program Collaboration operation Collaborative operation according to ISO 10218-1:2011 Temperature The robot can work in a temperature range of 0-50◦C Power supply 100-240 VAC, 50-60 Hz Calculated operating life 35,000 hours Cabling Cable between robot and control box (6m / 236 in)

Cable between touchscreen and control box (4.5m / 177 in)

Version 3.1 (rev. 17782)

I-63 UR3/CB3

UR3/CB3 I-64 Version 3.1 (rev. 17782)

Part II

PolyScope Manual

The Universal Robot arm is composed of extruded aluminum tubes and joints. The

joints with their usual names are shown in Figure 10.1. 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 base.

PolyScope is the graphical user interface (GUI) which lets you operate the robot

arm and control box, execute robot programs and easily create new ones.

The following section gets you started with the robot. Afterwards, the screens and

functionality of PolyScope are explained in more detail.

10.1 Getting Started

Before using PolyScope, the robot arm and control box must be installed and the

control box switched on.

10 Introduction

10.1.1 Installing the Robot Arm and Control Box

To install the robot arm and control box, do the following:

1. Unpack the robot arm and the control box.

2. Mount the robot arm on a sturdy and vibration-free surface.

3. Place the control box on its foot.

4. Plug on the robot cable between the robot and the control box.

5. Plug in the mains plug of the control box.

Figure 10.1: Joints of the robot. A: Base, B: Shoulder, C: Elbow and D, E, F: Wrist 1, 2, 3

Version 3.1 (rev. 17782)

II-3 CB3

WARNING:

Tipping hazard. If the robot is not securely placed on a sturdy

surface, the robot can fall over and cause an injury.

Detailed installation instructions can be found in the Hardware Installation Man-

ual. Note that a risk assessment is required before using the robot arm to do any

work.

10.1.2 Turning the Control Box On and Off

The control box is turned on by pressing the power button at the front side of the

panel with the touch screen. This panel is usually referred to as the teach pendant.

When the control box is turned on, text from the underlying operating system will

appear on the touch screen. After about one minute, a few buttons appear on the

screen and a popup guides the user to the initialization screen (see 10.4).

To shut down the control box, press the green power button on the screen, or use

the Shut Down button on the welcome screen (see 10.3).

10.1 Getting Started

WARNING:

Shutting down by pulling the power cord from the wall socket

may cause corruption of the robot’s ﬁle system, which may result

in robot malfunction.

10.1.3 Turning the Robot Arm On and Off

The robot arm can be turned on if the control box is turned on, and if no emergency

stop button is activated. Turning the robot arm on is done in the initialization screen

(see 10.4) by touching the ON button on that screen, and then pressing Start. When

a robot is started, it makes a sound and moves a little while releasing the brakes.

The power to the robot arm can be turned off by touching the OFF button on the

initialization screen. The robot arm is also powered off automatically when the

control box shuts down.

10.1.4 Quick Start

To quickly start up the robot after it has been installed, perform the following steps:

1. Press the Emergency Stop button on the front side of the teach pendant.

2. Press the power button on the teach pendant.

3. Wait a minute while the system is starting up, displaying text on the touch

screen.

4. When the system is ready, a popup will be shown on the touch screen, stating

that the robot needs to be initialized.

5. Touch the button on the popup dialog. You will be taken to the initialization

screen.

CB3 II-4 Version 3.1 (rev. 17782)

10.1 Getting Started

6. Wait for the Confirmation of applied Safety Configuration dia-

log and press the Confirm Safety Configuration button. This applies

an initial set of safety parameters that need to be adjusted based on a risk

assessment.

7. Unlock the Emergency Stop button. The robot state changes from Emergency

Stopped to Power off.

8. Step outside the reach (workspace) of the robot.

9. Touch the On button on the touch screen. Wait a few seconds until robot state

changes to Idle.

10. Verify that the payload mass and selected mounting are correct. You will be

notiﬁed if the mounting detected based on sensor data does not match the

selected mounting.

11. Touch the Start button on the touch screen. The robot now makes a sound

and moves a little while releasing the brakes.

12. Touch the OK button, bringing you to the Welcome screen.

10.1.5 The First Program

A program is a list of commands telling the robot what to do. PolyScope 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 an important part of a robot program, a way of teaching the

robot how to move is essential. In PolyScope, motions of the tool are given using a

series of waypoints, i.e. points in the robot’s workspace. A waypoint can be given by

moving the robot to a certain position, or it can be calculated by software. In order

to move the robot arm to a certain position, use either the Move tab (see 12.1), or

simply pull the robot arm into place while holding the Freedrive button at the back

side of the teach pendant.

Besides moving through waypoints, the program can send I/O signals to other ma-

chines at certain points in the robot’s path, and perform commands like if...then

and loop, based on variables and I/O signals.

To create a simple program on a robot that has been started up, do the following:

1. Touch the Program Robot button and select Empty Program.

2. Touch the Next button (bottom right) so that the <empty> line is selected in

the tree structure on the left side of the screen.

Version 3.1 (rev. 17782)

3. Go to the Structure tab.

4. Touch the Move button.

5. Go to the Command tab.

6. Press the Next button, to go to the Waypoint settings.

7. Press the Set this waypoint button next to the ‘‘?’’ picture.

8. On the Move screen, move the robot by pressing the various blue arrows, or

move the robot by holding the Freedrive button, placed on the backside of

the teach pendant, while pulling the robot arm.

II-5 CB3

10.2 PolyScope Programming Interface

9. Press OK.

10. Press Add waypoint before.

11. Press the Set this waypoint button next to the ‘‘?’’ picture.

12. On the Move screen, move the robot by pressing the various blue arrows, or

move the robot by holding the Freedrive button while pulling the robot

arm.

13. Press OK.with

14. 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”.

15. Congratulations! You have now produced your ﬁrst robot program that moves

the robot between the two given waypoints.

WARNING:

1. Do not drive the robot into itself or anything else as this may

cause damage to the robot.

2. Keep your head and torso outside the reach (workspace) of

the robot. Do not place ﬁngers where they can be caught.

3. This is only a quick start guide to show how easy it is to use

a UR robot. It assumes a harmless environment and a very

careful user. Do not increase the speed or acceleration above

the default values. Always conduct a risk assessment before

placing the robot into operation.

10.2 PolyScope Programming Interface

PolyScope runs on the touch sensitive screen attached to the control box.

CB3 II-6 Version 3.1 (rev. 17782)

10.2 PolyScope Programming Interface

The picture above shows the Welcome Screen. The bluish areas of the screen are

buttons that can be pressed by pressing a ﬁnger or the backside of a pen against

the screen. PolyScope has a hierarchical structure of screens. In the programming

environment, the screens are arranged in tabs, for easy access on the screens.

In this example, the Program tab is selected at the top level, and under that the

Structure tab is selected. The Program tab holds information related to the cur-

rently loaded program. If the Move tab is selected, the screen changes to the Move

screen, from where the robot arm can be moved. Similarly, by selecting the I/O tab,

the current state of the electrical I/O can be monitored and changed.

It is possible to connect a mouse and a keyboard to the control box or the teach

pendant; however, this is not required. Almost all text ﬁelds are touch-enabled,

so touching them launches an on-screen keypad or keyboard. Non-touchable text

ﬁelds have an editor icon next to them that launches the associated input editor.

The icons of the on-screen keypad, keyboard and expression editor are shown

above.

The various screens of PolyScope are described in the following sections.

Version 3.1 (rev. 17782)

II-7 CB3

10.3 Welcome Screen

After booting up the controller PC, the welcome screen is shown. The screen offers

the following options:

• Run Program: Choose and run an existing program. This is the simplest way

to operate the robot arm and control box.

• Program Robot: Change a program, or create a new program.

• Setup Robot: Set passwords, upgrade software, request support, calibrate the

touch screen, etc.

• Shutdown Robot: Powers off the robot arm and shuts down the control box.

CB3 II-8 Version 3.1 (rev. 17782)

10.4 Initialization Screen

On this screen you control the initialization of the robot arm.

Robot arm state indicator

The status LED gives an indicaton of the robot arm’s running state:

• A bright red LED indicates that the robot arm is currently in a stopped state

where the reasons can be several.

• A bright yellow LED indicates that the robot arm is powered on, but is not

ready for normal operation.

• Finally, a green LED indicates that the robot arm is powered on, and ready for

normal operation.

The text appearing next to the LED further speciﬁes the current state of the robot

arm.

Active payload and installation

When the robot arm is powered on, the payload mass used by the controller when

operating the robot arm is shown in the small white text ﬁeld. This value can be

modiﬁed by tapping the text ﬁeld and entering a new value. Note that setting this

value does not modify the payload in the robot’s installation (see 12.6), it only sets

the payload mass to be used by the controller.

Similarly, the name of the installation ﬁle that is currently loaded is shown in the

grey text ﬁeld. A different installation can be loaded by tapping the text ﬁeld or

Version 3.1 (rev. 17782)

II-9 CB3

by using the Load button next to it. Alternatively, the loaded installation can be

customized using the buttons next to the 3D view in the lower part of the screen.

Before starting up the robot arm, it is very important to verify that both the active

payload and the active installation correspond to the actual situation the robot arm

is currently in.

Initializing the robot arm

10.4 Initialization Screen

DANGER:

Always verify that the actual payload and installation are correct

before starting up the robot arm. If these settings are wrong, the

robot arm and control box will not function correctly and may be-

come dangerous to people or equipment around them.

CAUTION:

Great care should be taken if the robot arm is touching an obstacle

or table, since driving the robot arm into the obstacle might dam-

age a joint gearbox.

The large button with the green icon on it serves to perform the actual initialization

of the robot arm. The text on it, and the action it performs, change depending on

the current state of the robot arm.

• After the controller PC boots up, the button needs to be tapped once to power

the robot arm on. The robot arm state then turns to Power on and subsequently

to Idle. Note that when an emergency stop is in place, the robot arm cannot be

powered on, so the button will be disabled.

• When the robot arm state is Idle, the button needs to be tapped once again

to start the robot arm up. At this point, sensor data is checked against the

conﬁgured mounting of the robot arm. If a mismatch is found (with a tolerance

of 30◦), the button is disabled and an error message is displayed below it.

If the mounting veriﬁcation passes, tapping the button releases all joint brakes

and the robot arm becomes ready for normal operation. Note that the robot

makes a sound and moves a little while releasing the brakes.

• If the robot arm violates one of the safety limits after it starts up, it operates in a

special Recovery mode. In this mode, tapping the button switches to a recovery

move screen where the robot arm can be moved back within the safety limits.

• If a fault occurs, the controller can be restarted using the button.

• If the controller is currently not running, tapping the button starts it.

Finally, the smaller button with the red icon on it serves to power off the robot arm.

CB3 II-10 Version 3.1 (rev. 17782)

11 On-screen Editors

11.1 On-screen Keypad

Simple number typing and editing facilities. In many cases, the unit of the typed

value is displayed next to the number.

Version 3.1 (rev. 17782)

II-11 CB3

11.2 On-screen Keyboard

11.3 On-screen Expression Editor

Simple text typing and editing facilities. The Shift key can be used to get some

additional special characters.

11.3 On-screen Expression Editor

CB3 II-12 Version 3.1 (rev. 17782)

11.4 Pose Editor Screen

While the expression itself is edited as text, the expression editor has a number of

buttons and functions for inserting the special expression symbols, such as ∗ for

multiplication and ≤ for less than or equal to. The keyboard symbol button in

the top right of the screen switches to text-editing of the expression. All deﬁned

variables can be found in the Variable selector, while the names of the input

and output ports can be found in the Input and Output selectors. Some special

functions are found in Function.

The expression is checked for grammatical errors when the Ok button is pressed.

The Cancel button leaves the screen, discarding all changes.

An expression can look like this:

digital in[1]

11.4 Pose Editor Screen

On this screen you can specify target joint positions, or a target pose (position and

orientation) of the robot tool. This screen is “ofﬂine“ and does not control the robot

arm directly.

=True and analog in[0]<0.5

Robot

The current position of the robot arm and the speciﬁed new target position are

shown in 3D graphics. The 3D drawing of the robot arm shows the current position

of the robot arm, and the “shadow” of the robot arm shows the target position of

the robot arm controlled by the speciﬁed values on the right hand side of the screen.

Push the magnifying glass icons to zoom in/out or drag a ﬁnger across to change

the view.

Version 3.1 (rev. 17782)

II-13 CB3

If the speciﬁed target position of the robot TCP is close to a safety or trigger plane, or

the orientation of robot tool is near the tool orientation boundary limit (see 15.11),

a 3D representation of the proximate boundary limit is shown.

Safety planes are visualized in yellow and black with a small arrow representing

the plane normal, which indicates the side of the plane on which the robot TCP

is allowed to be positioned. Trigger planes are displayed in blue and green and a

small arrow pointing to the side of the plane, where the Normal mode limits (see

15.5) are active. The tool orientation boundary limit is visualized with a spherical

cone together with a vector indicating the current orientation of the robot tool. The

inside of the cone represents the allowed area for the tool orientation (vector).

When the target robot TCP no longer is in the proximity of the limit, the 3D rep-

resentation disappears. If the target TCP is in violation or very close to violating a

boundary limit, the visualization of the limit turns red.

Feature and tool position

In the top right corner of the screen, the feature selector can be found. The feature

selector deﬁnes which feature to control the robot arm relative to

11.4 Pose Editor Screen

Below the feature selector, the name of the currently active Tool Center Point (TCP)

is displayed. For further information aboutconﬁguring several named TCPs, see 12.6.

The text boxes show the full coordinate values of that TCP relative to the selected

feature. X, Y and Z control the position of the tool, while RX, RY and RZ control the

orientation of the tool.

Use the drop down menu above the RX, RY and RZ boxes to choose the orientation

representation. Available types are:

• Rotation Vector [rad] The orientation is given as a rotation vector. The length

of the axis is the angle to be rotated in radians, and the vector itself gives the

axis about which to rotate. This is the default setting.

• Rotation Vector [◦] The orientation is given as a rotation vector, where the

length of the vector is the angle to be rotated in degrees.

• RPY [rad] Roll, pitch and yaw (RPY) angles, where the angles are in radians.

The RPY-rotation matrix (X, Y’, Z” rotation) is given by:

(γ, β, α) = RZ(α) · RY(β) · RX(γ)

rpy

• RPY [◦] Roll, pitch and yaw (RPY) angles, where angles are in degrees.

Values can be edited by clicking on the coordinate. Clicking on the + or - buttons

just to the right of a box allows you to add or subtract an amount to/from the

current value. Pressing and holding down a button will directly increase/decrease

the value. The longer the button is down, the larger the increase/decrease will be.

Joint positions

Allows the individual joint positions to be speciﬁed directly. Each joint position can

have a value in the range from −360◦to +360◦, which are the joint limits. Values can

be edited by clicking on the joint position. Clicking on the + or - buttons just to the

CB3 II-14 Version 3.1 (rev. 17782)

11.4 Pose Editor Screen

right of a box allows you to add or subtract an amount to/from the current value.

Pressing and holding down a button will directly increase/decrease the value. The

longer the button is down, the larger the increase/decrease will be.

OK button

If this screen was activated from the Move tab (see 12.1), clicking the OK button will

return to the Move tab, where the robot arm will move to the speciﬁed target. If

the last speciﬁed value was a tool coordinate, the robot arm will move to the target

position using the MoveL movement type, while the robot arm will move to the

target position using the MoveJ movement type, if a joint position was speciﬁed

last. The different movement types are described in 13.5.

Cancel button

Clicking the Cancel button leaves the screen discarding all changes.

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11.4 Pose Editor Screen

CB3 II-16 Version 3.1 (rev. 17782)

12.1 Move Tab

On this screen you can always move (jog) the robot arm directly, either by translat-

ing/rotating the robot tool, or by moving robot joints individually.

12 Robot Control

12.1.1 Robot

The current position of the robot arm is shown in 3D graphics. Push the magnifying

glass icons to zoom in/out or drag a ﬁnger across to change the view. To get the best

feel for controlling the robot arm, select the View feature and rotate the viewing

angle of the 3D drawing to match your view of the real robot arm.

If the current position of the robot TCP comes close to a safety or trigger plane, or

the orientation of robot tool is near the tool orientation boundary limit (see 15.11),

a 3D representation of the proximate boundary limit is shown. Note that when the

robot is running a program, the visualization of boundary limits will be disabled.

Safety planes are visualized in yellow and black with a small arrow representing

the plane normal, which indicates the side of the plane on which the robot TCP

is allowed to be positioned. Trigger planes are displayed in blue and green and a

small arrow pointing to the side of the plane, where the Normal mode limits (see

15.5) are active. The tool orientation boundary limit is visualized with a spherical

cone together with a vector indicating the current orientation of the robot tool. The

inside of the cone represents the allowed area for the tool orientation (vector).

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When the robot TCP no longer is in the proximity of the limit, the 3D representation

disappears. If the TCP is in violation or very close to violating a boundary limit,

the visualization of the limit turns red.

12.1.2 Feature and Tool Position

In the top right corner of the screen, the feature selector can be found. It deﬁnes

which feature to control the robot arm relative to.

The name of the currently active Tool Center Point (TCP) is displayed below the

feature selector. The text boxes show the full coordinate values of that TCP relative

to the selected feature. For further information about conﬁguring several named

TCPs, see 12.6.

Values can be edited manually by clicking on the coordinate or the joint position.

This will take you to the pose editor screen (see 11.4) where you can specify a target

position and orientation for the tool or target joint positions.

12.1.3 Move Tool

• Holding down a translate arrow (top) will move the tool-tip of the robot

in the direction indicated.

12.1 Move Tab

• Holding down a rotate arrow (button) will change the orientation of the

Note: Release the button to stop the motion at any time!

12.1.4 Move Joints

Allows the individual joints to be controlled directly. Each joint can move from

−360

for each joint. If a joint reaches its joint limit, it cannot be driven any further. If

the limits for a joint have been conﬁgured with a position range different from the

default (see 15.10), this range is indicated with red in the horizontal bar.

12.1.5 Freedrive

While the Freedrive button is held down, it is possible to physically grab the robot

arm and pull it to where you want it to be. If the gravity setting (see 12.7) in the

Setup tab is wrong, or the robot arm carries a heavy load, the robot arm might

start moving (falling) when the Freedrive button is pressed. In that case, just release

the Freedrive button again.

robot tool in the indicated direction. The point of rotation is the Tool Center

Point (TCP), i.e. the point at the end of the robot arm that gives a characteristic

point on the robot’s tool. The TCP is shown as a small blue ball.

◦

to + 360◦, which are the default joint limits illustrated by the horizontal bar

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12.2 I/O Tab

WARNING:

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

mounting angle, weight in TCP, TCP offset). Save and load

the installation ﬁles along with the program.

2. Make sure that the TCP settings and the robot mounting set-

tings are set correctly before operating the Freedrive but-

ton. If these settings are not correct, the robot arm will move

when the Freedrive button is activated.

3. The freedrive function (impedance/backdrive) 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 personnel remain outside the reach

of the robot arm.

On this screen you can always monitor and set the live I/O signals from/to the

robot control box. The screen displays the current state of the I/O, inluding during

program execution. If anything is changed during program execution, the program

will stop. At program stop, all output signals will retain their states. The screen is

updated at only 10Hz, so a very fast signal might not display properly.

Conﬁgurable I/O’s can be reserved for special safety settings deﬁned in the safety

I/O conﬁguration section of the installaton (see 15.12); those which are reserved

will have the name of the safety function in place of the default or user deﬁned

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name. Conﬁgurable outputs that are reserved for safety settings are not togglable

and will be displaed as LED’s only.

The electrical details of the signals are described in the user manual.

Analog Domain Settings The analog I/O’s can be set to either current [4-20mA]

or voltage [0-10V] output. The settings will be remembered for eventual later

restarts of the robot controller when a program is saved.

12.3 MODBUS client I/O

Here, the digital MODBUS client I/O signals as set up in the installation are shown.

If the signal connection is lost, the corresponding entry on this screen is disabled.

12.4 AutoMove Tab

Inputs

View the state of digital MODBUS client inputs.

Outputs

View and toggle the state of digital MODBUS client outputs. A signal can only be

toggled if the choice for I/O tab control (described in 12.8) allows it.

12.4 AutoMove Tab

The AutoMove tab is used when the robot arm has to move to a speciﬁc position in

its workspace. Examples are when the robot arm has to move to the start position

of a program before running it, or when moving to a waypoint while modifying a

program.

CB3 II-20 Version 3.1 (rev. 17782)

12.4 AutoMove Tab

Animation

Auto

Manual

The animation shows the movement the robot arm is about to perform.

CAUTION:

Compare the animation with the position of the real robot arm and

make sure that the robot arm can safely perform the movement

without hitting any obstacles.

CAUTION:

The automove function moves along the robot along the shadow

trajectory. Collision might damage the robot or other equipment.

Hold down the Auto button to move the robot arm as shown in the animation.

Note: Release the button to stop the motion at any time!

Pushing the Manual button will take you to the MoveTab where the robot arm can

be moved manually. This is only needed if the movement in the animation is not

preferable.

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12.5 Installation → Load/Save

The Robot Installation covers all aspects of how the robot arm and control box are

placed in the working environment. It includes the mechanical mounting of the

robot arm, electrical connections to other equipment, as well as all options on which

the robot program depends. It does not include the program itself.

These settings can be set using the various screens under the Installation tab,

except for the I/O domains which are set in the I/O tab (see 12.2).

It is possible to have more than one installation ﬁle for the robot. Programs created

will use the active installation, and will load this installation automatically when

used.

Any changes to an installation need to be saved to be preserved after power down.

If there are unsaved changes in the installation, a ﬂoppy disk icon is shown next to

the Load/Save text on the left side of the Installation tab.

Saving an installation can be done by pressing the Save or Save As... button.

Alternatively, saving a program also saves the active installation. To load a different

installation ﬁle, use the Load button. The Create New button resets all of the

settings in the Robot Installation to their factory defaults.

CAUTION:

Using the robot with an installation loaded from a USB drive is

not recommended. To use an installation stored on a USB drive,

ﬁrst load it and then save it in the local programs folder using the

Save As... button.

CB3 II-22 Version 3.1 (rev. 17782)

12.6 Installation → TCP Conﬁguration

A Tool Center Point (TCP) is a characteristic point on the robot’s tool. Several named

TCPs can be deﬁned on this screen. Each TCP contains a translation and a rotation

relative to the center of the tool output ﬂange, as indicated on the on-screen graph-

ics. The position coordinates, X, Y and Z, specify the position of the TCP, while RX,

RY and RZ specify its orientation. When all of the speciﬁed values are zero, the TCP

coincides with the center point on the tool output ﬂange and adopts the coordinate

system depicted on the right side of the screen.

12.6.1 Adding, modifying and removing TCPs

To deﬁne a new TCP, hit the New button. The created TCP then automatically re-

ceives a unique name and becomes selected in the drop-down menu.

The translation and rotation of the selected TCP can be modiﬁed by tapping the

respective white text ﬁelds and entering new values.

To remove the selected TCP, simply tap the Remove button. The last remaining

TCP cannot be deleted.

12.6.2 The default and the active TCP

Precisely one of the conﬁgured TCPs is the default one. The default TCP is marked

by a green icon to the left of its name in the drop-down TCP menu. To set the

currently selected TCP as the default one, hit the Set as default button.

One TCP offset is always used as the active one to determine all linear motions in

Cartesian space. Also, it is the motion of the active TCP that is visualized on the

Graphics tab (see 13.28). Before any program is run, as well as before the start of

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a program, the default TCP is set as the active one. Within a program, any of the

speciﬁed TCPs can be set as the active one for a particular movement of the robot

(see 13.5 and 13.10).

12.6.3 Teaching TCP position

12.6 Installation → TCP Conﬁguration

TCP position coordinates can be calculated automatically as follows:

1. Tap the Position button.

2. Choose a ﬁxed point in the workspace of the robot.

3. Use the buttons on the right side of the screen to move the TCP to the cho-

sen point from at least three different angles and to save the corresponding

positions of the tool output ﬂange.

4. Verify the calculated TCP coordinates and set them onto the selected TCP us-

ing the Set button.

Note that the positions must be sufﬁciently diverse for the calculation to work cor-

rectly. If they are not, the status LED above the buttons turns red.

Furthermore, even though three positions are usually sufﬁcient to determine the

correct TCP, the fourth position can be used to further verify that the calculation

is correct. The quality of each saved point with respect to the calculated TCP is

indicated using a green, yellow or red LED on the respective button.

CB3 II-24 Version 3.1 (rev. 17782)

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

4.1 Introduction

4 Electrical Interface

4.2 Electrical warnings and cautions

4.3.2 Safety I/O

4.3.3 General purpose digital I/O

4.3.4 Digital input from a button

4.3.6 General purpose analog I/O

4.3.7 Remote ON/OFF control

4.4 Tool I/O

4.4.1 Tool Digital Outputs

4.4.2 Tool Digital Inputs

4.4.3 Tool Analog Inputs

4.5 Ethernet

4.7 Robot connection

5 Safety-related Functions and Interfaces

5.1 Limiting Safety-related Functions

5.2 Safety Modes

5.3 Safety-related Electrical Interfaces

5.3.1 Safety-related Electrical Inputs

5.3.2 Safety-related Electrical Outputs

6 Maintenance and Repair

6.1 Safety Instructions

7 Disposal and Environment

8.2 Declarations According to EU directives

9.1 Product Warranty

9 Warranties

9.2 Disclaimer

A Stopping Time and Stopping Distance

A.1 CATEGORY 0 stopping distances and times

B.1 CE Declaration of Incorporation (original)

C Applied Standards

10.1 Getting Started

10 Introduction

10.1.1 Installing the Robot Arm and Control Box

10.1.2 Turning the Control Box On and Off

10.1.3 Turning the Robot Arm On and Off

10.1.4 Quick Start

10.1.5 The First Program

10.2 PolyScope Programming Interface

11 On-screen Editors

11.1 On-screen Keypad

11.3 On-screen Expression Editor

11.4 Pose Editor Screen

12.1 Move Tab

12 Robot Control

12.1.1 Robot

12.1.2 Feature and Tool Position

12.1.3 Move Tool

12.1.4 Move Joints

12.1.5 Freedrive

12.2 I/O Tab

12.3 MODBUS client I/O

12.4 AutoMove Tab

12.6.1 Adding, modifying and removing TCPs

12.6.2 The default and the active TCP

12.6.3 Teaching TCP position