Universal Robots UR10 User Manual

General purpose industrial robot

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Page 1 User Manual August 1, 2013 Robot: UR10 Euromap67 SN UR10: SN CB2:...
Page 2 Universal Robots A/S. The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A/S. This manual is periodically reviewed and revised.
Page 3: Table Of Contents
Contents 1 Getting started 1.1 Introduction ........1.1.1 The Robot .
Page 5: Getting Started
No special knowledge about robots in general or Universal Robots in particular is required. The rest of this chapter is an appetizer for getting started with the robot.
Page 7: Safety Evaluation
The Auto button near the top of the screen drives all joints until they are ready. When released and pressed again, all joints change drive direction. The Manual buttons permit manual driving of each joint. A more detailed description of the initialization screen is found in the PolyScope manual. UR10 All Rights Reserved...
Page 8: Shutting Down The Robot
4. Plug the robot cable into the connector at the bottom of the controller box. 5. Plug in the mains plug of the controller box. 6. Press the Emergency Stop button on the front side of the teach pendant. 7. Press the power button on the teach pendant. UR10 All Rights Reserved...
Page 9 30. Congratulations! You have now produced your ﬁrst robot program that moves the robot between the two given positions. Remember that you have to carry out a risk assessment and improve the overall safety condi- tion before you really make the robot do some work. UR10 All Rights Reserved...
Page 10: Mounting Instructions
1.4.1 The Workspace of the Robot The workspace of the UR10 robot extends to 1300 mm from the base joint. The workspace of the robot is shown in ﬁgure 1.2. It is important to consider the cylindrical volume directly above and directly below the robot base when a mounting place for the robot is chosen.
Page 12 1.4. Mounting Instructions 40,2 Figure 1.4: The tool output ﬂange, ISO 9409-1-50-4-M6. This is where the tool is mounted at the tip of the robot. All measures are in UR10 All Rights Reserved...
Page 13: Mounting The Controller Box
External mains fuse (@ 100-200V) External mains fuse (@ 200-240V) Input frequency Stand-by power Nominal operating power Use the screw connection marked with earth symbol inside the controller box when potential equalization with other machinery is required. UR10 All Rights Reserved...
Page 15: Electrical Interface
Chapter 2 Electrical Interface 2.1 Introduction The robot is a machine that can be programmed to move a tool around in the robots workspace. Often, it is desired to coordinate robot motion with nearby machines or equipment on the tool. The most straightforward way to achieve this is often by using the electrical interface.
Page 16: The Safety Interface
Stop output, intended for use by safety equipment near the robot. The External Emergency Stop will also stop the robot, but will not affect the Emer- gency Stop output, and is only intended for connecting to other machines. UR10 All Rights Reserved...
Page 17 Connect more robots as robot number 2 is connected. This example uses 24V which works with many other machines. Make sure to comply with all electrical speciﬁcations when UR robots share emergency stop with other machinery. UR10 All Rights Reserved...
Page 18 IEC 60664-1 and EN 60664-1, pollution degree 2, overvoltage cat- egory II. The emergency stop outputs EO1-EO2-EO3-EO4 are relay contacts conform- ing to IEC 60664-1 and EN 60664-1, pollution degree 2, over-voltage category III. UR10 All Rights Reserved...
Page 19: The Safeguard Interface
1 (ISO 13849-1 and EN 954-1) light guard if the risk assessment allows it. When connecting a category 1 light guard use TA and SA and then connect TB and SB with a wire. Remember to use a reset button conﬁguration so that the safeguard stop is latched. UR10 All Rights Reserved...
Page 20: Automatic Continue After Safeguard Stop
To understand the safeguard functionality, a simpliﬁed internal schematics of the circuitry is shown below. Any failure in the safety system will lead to a safe stop of the robot and an error message on the log screen. 1011 1011 1011 1011 UR10 All Rights Reserved...
Page 21: Controller I/O
61131-2. 24V and GND can be used as input for the I/O module or output as a 24V power supply. When the control box is booting it checks if voltage is applied to the 24V connection from an external power supply, and if not, it automatically connects the internal 24V power supply. UR10 All Rights Reserved...
Page 22: Digital Outputs
The next subsections show some simple examples of how the digital outputs could be used. Load Controlled by Digital Output DO0 DO1 DO2 DO3 DO4 DO5 DO6 DO7 LOAD GND GND GND GND GND GND GND GND This example illustrates how to turn on a load. UR10 All Rights Reserved...
Page 23: Digital Inputs
The above example shows how to connect a simple button or switch. Digital Input, Simple Button, External Power DO7 24V 24V 24V Butto n The above illustration shows how to connect a button using an external power source. UR10 All Rights Reserved...
Page 24: Analog Outputs
The best result is accomplished when using current mode, because it is more immune to disturbing signals. Using the Analog Outputs, Non-Differential Signal UR10 All Rights Reserved...
Page 25: Analog Inputs
If it is not possible to achieve a differential signal from the equipment used, a solution could look something like the setup above. Unlike the non-differential analog output example in subsection 2.4.3, this solution would be almost as good as the differential solutions. UR10 All Rights Reserved...
Page 26: Tool I/O
Note that the tolerance of the resistor and the ohmic change due to tempera- ture must be added to the error speciﬁcations of the analog inputs. 2.5 Tool I/O At the tool end of the robot there is a small connector with eight connections. UR10 All Rights Reserved...
Page 27: Digital Outputs
GND, and when it is deactivated, the corresponding connection is open (open-collector/open-drain). The primary difference be- tween the digital outputs inside the control box and those in the tool is the re- duced current due to the small connector. UR10 All Rights Reserved...
Page 28: Digital Inputs
I/O. The analog inputs can be set to different input ranges, which are implemented in different ways, and therefore can have different offset and gain errors. UR10 All Rights Reserved...
Page 29 Using Analog Inputs, Differential Using sensors with differential outputs is also straightforward. Simply connect the negative output part to GND (0V) with a terminal strip and it will work in the same way as a non-differential sensor. UR10 All Rights Reserved...
Page 31: Safety
6. Put a CE mark on the robot installation. In a given robot installation, the integrator is responsible for the compliance with all relevant directives. Universal Robots takes responsibility for the robot itself complying with the relevant EU directives (See section 5.1).
Page 32: Risk Assessment
10. Mistakes due to different emergency stop buttons for different machines. Use common emergency stop function as descriped in section 2.3.1. However, the UR10 is a very safe robot due to the following reasons: 1. Control system conforms to ISO 13849-1 performance level d.
Page 33: Emergency Situations
5.10.5. The risk assessment still needs to conclude that the overall robot installation is safe enough of course. A copy of the certiﬁcation report can be requested from Universal Robots. The standard EN ISO 10218-1:2006 is valid untill the 1st of January 2013. In the meantime the newer version EN ISO 10218-1:2011 and the corrosponding EN ISO 10218-2:2011 addressed to the integrators are also valid.
Page 35: Warranties
Warranty default becoming evident. Ownership of de- vices or components replaced by and returned to Universal Robots shall vest in Universal Robots. Any other claims resulting out of or in connection with the device shall be excluded from this Warranty. Nothing in this Warranty shall at- tempt to limit or exclude a Customer’s Statutory Rights, nor the manufacturer’s...
Page 37: Declaration Of Incorporation
According to the machinery directive 2006/42/EC, the robot is considered a partly completed machine. The following subsections corresponds to and are in accordance with annex II of this directive. 5.2 Product manufacturer Name Universal Robots A/S Address Sivlandvænget 1 5260 Odense S Denmark...
Page 38: Essential Requirements
5.5. Essential Requirements Generic denomination UR10 Function General purpose industrial robot Model UR10 Serial number of robot arm Serial number of control box Commercial name UR10 5.5 Essential Requirements The individual robot installations have different safety requirements and the in- tegrator is therefore responsible for all hazards which are not covered by the general design of the robot.
Page 39 EN ISO 1101:2005 EN ISO 286-1:2010 EN ISO 286-2:2010 EN 60664-1:2007 EN 60947-5-5:1998 EN 60947-5-5/A1:2005 EN 50205:2003 EN 60529:1991+A1:2000 EN 60320:2003 EN 60204:2006 (Partly) Note that the low voltage directive is not listed. The machinery directive UR10 All Rights Reserved...
Page 40: National Authority Contact Information
Also note that the WEEE directive 2002/96/EC is listed because of the crossed- out wheeled bin symbol on the robot and the control box. Universal Robots reg- isters all robot sales within Denmark to the national WEEE register of Denmark.
Page 41: Identity And Signature Of The Empowered Person
5.9. Identity and Signature of the Empowered Person 5.9 Identity and Signature of the Empowered Person Name Lasse Kieffer Address Sivlandvænget 1 5260 Odense S Denmark Phone number +45 8993 8971 E-mail address kieffer@universal-robots.com Signature UR10 All Rights Reserved...
Page 43: A Euromap67 Interface
This manual is intended for the integrator. It contains important information re- garding integration, programming, understanding and debugging. Abbreviations used in this document are explained below. Abbreviation Meaning Universal Robots Controller Box Injection Moulding Machine Moulding Area Free A, B, C, ZA, ZB and ZC Signals inside euromap67 cable WARNING: An IMM can use up to 250V on some of its signals.
Page 44: Euromap67 Standard
A.2.2 Connecting a MAF light guard The MAF signal [A3-C3] in the euromap67 cable enables the powerful move- ment of the mould. Care must be taken to prevent the mould from closing when the robot is inside the machine. UR10 All Rights Reserved...
Page 45: Mounting The Robot And Tool
A9 to ZA9 and C9 to ZC9. IMM 24V is often present at euromap12 pin 32. 2. Is the adaptor switching both robot emergency channels and both robot safety devices channels? This is typically accomplished using 4 relays. UR10 All Rights Reserved...
Page 46: Gui
After installing the euromap67 interface, an extra button appears which gives access to the euromap67 program template. Selecting the euromap67 program template, the program screen will ap- pear with the template loaded. The template structure will then be visible on the left side of the screen. UR10 All Rights Reserved...
Page 47: I/O Overview And Troubleshooting
ﬁt the IMM cycle time, and, if necessary, the level of fragility of the items. Finally, each euromap67 structure is customizable to suit the speciﬁc IMM procedure. A.3.2 I/O overview and troubleshooting The euromap67 I/O overview is found under the I/O tab. UR10 All Rights Reserved...
Page 48 In the robot column, the indicators Emergency Stop and Mould Area Free (Elec- trical) are not controlable from this screen. They simply indicate if the robot is emergency stopped, and if the MAF output is set high. The MAF output is set UR10 All Rights Reserved...
Page 49: Program Structure Functionality
Both the state of inputs and outputs are testable. Set output steps set a speciﬁed output to either high or low. Wait until steps are typically used for waiting until a movement has been ﬁnished before continuing with further steps and following program nodes. UR10 All Rights Reserved...
Page 50 Free to Mould Used for signalling the IMM that it is allowed to start a moulding operation. When this signal is activated, the robot must be placed outside the IMM. Use the checkboxes to enable/disable individual steps. UR10 All Rights Reserved...
Page 51 Should be used when the robot is in position ready for grasping the item. Use the checkboxes to enable/disable individual steps. Ejector Back Enables the movement of the ejector to its back position. Use the checkboxes to enable/disable individual steps. UR10 All Rights Reserved...
Page 52 Core Pullers Out Enables the movement of the core pullers to position 2. Which core pullers are used is selected from the drop down menu. Use the checkboxes to en- able/disable individual steps. UR10 All Rights Reserved...
Page 53: I/O Action And Wait
To achieve redundancy of the safety functionality, the controller box knows whether it shall expect a euromap67 interface to be present or not. Therefore, the installing and uninstalling procedures below must be followed precisely. Please note the orientation of the ribbon cable below. UR10 All Rights Reserved...
Page 54: Installing
Remove all M4 screws from the outer side of the controller box. 3. Power up the controller box. The controller box stays in booting state. Some warnings might appear. 4. Disable safety functionality. Go to the Installation screen, then select the Settings tab. UR10 All Rights Reserved...
Page 55: Electrical Characteristics
[C1-C2][C3-C4] Current (Each output) [C1-C2][C3-C4] Current protection [A1-A2][A3-A4] Input voltage [A1-A2][A3-A4] Guaranteed OFF if [A1-A2][A3-A4] Guaranteed ON if [A1-A2][A3-A4] Guaranteed OFF if [A1-A2][A3-A4] ON Current (10-30V) [A1-C1][A2-C2][A3-C3] Current AC/DC 0.01 [A1-C1][A2-C2][A3-C3] Voltage DC [A1-C1][A2-C2][A3-C3] Voltage AC UR10 All Rights Reserved...
Page 56: Digital Inputs
The digital outputs use some mA from the 24V of the IMM to control and bias the transistors forming solid-state relays. Parameter Unit Source current per output Voltage drop when ON Leakage current when OFF Current used from IMM 24V UR10 All Rights Reserved...
Page 57: B Certiﬁcations
Appendix B Certiﬁcations...

Universal Robots UR10 User Manual

1 Getting Started

2 Electrical Interface

3 Safety

4 Warranties

5 Declaration of Incorporation

A Euromap67 Interface

B Certiﬁcations

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Summary of Contents for Universal Robots UR10

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