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Universal Robots UR20 PolyScope X User Manual
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Universal Robots UR20 PolyScope X User Manual

Universal Robots UR20 PolyScope X User Manual

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UR20 PolyScope X
Original instructions (en)
PolyScope X

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Summary of Contents for Universal Robots UR20 PolyScope X

  • Page 1 User Manual UR20 PolyScope X Original instructions (en) PolyScope X...
  • Page 2 UR20 PolyScope X User Manual...
  • Page 3 Universal Robots A/S. This document is periodically reviewed and revised. Universal Robots A/S assumes no responsibility for any errors or omissions in this document. Copyright © 2009–2024 by Universal Robots A/S. The Universal Robots logo is a registered trademark of Universal Robots A/S. User Manual UR20 PolyScope X...
  • Page 4 UR20 PolyScope X User Manual...
  • Page 5 6.3. Mounting Description 6.3.1. Singularity 6.3.2. Fixed and Movable Installation 6.4. Securing the Robot Arm 6.5. Control Box Clearance 6.6. Robot Connections: Base Flange Cable 6.7. Robot Connections: Robot Cable 6.8. Mains Connections 7. Application Tab 7.1. Communication User Manual UR20 PolyScope X...
  • Page 6 9.2. Safely Setting the Active Payload 10. Cybersecurity Threat Assessment 10.1. General Cybersecurity 10.2. Cybersecurity Requirements 10.3. Cybersecurity Hardening Guidelines 11. Communication Networks 11.1. UR Connect 12. Emergency Events 12.1. Emergency Stop 12.2. Movement Without Drive Power 12.3. Operational Mode UR20 PolyScope X User Manual...
  • Page 7 14.1. Testing Stopping Performance 14.2. Robot Arm Cleaning and Inspection 15. Disposal and Environment 16. Risk Assessment 16.1. Pinch Hazard 16.2. Stopping Time and Stopping Distance 16.3. Commissioning 17. Declarations and Certificates (original EN) 18. Declarations and Certificates 19. Certifications 20. Certificates User Manual UR20 PolyScope X...
  • Page 8 UR20 PolyScope X User Manual...
  • Page 9 Read and follow the recommendations for intended use and the specifications provided in the User Manual. Universal Robots robots are intended for industrial use, to handle tools/end effectors and fixtures, or to process or transfer components or products. For details about the conditions under which the robot should operate.
  • Page 10 • Misuse is prohibited as the result could be death, personal injury, and /or property damage UNIVERSAL ROBOTS EXPRESSLY DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY OF FITNESS FOR ANY PARTICULAR USE. WARNING Do not modify the robot. Do not modify or alter e-Series end caps. A modification can create unforeseen hazards.
  • Page 11 2. Your Robot Introduction Congratulations on the purchase of your new Universal Robots robot, which consists of the robot arm (manipulator), Control Box and the Teach Pendant. Originally designed to mimic the range of motion of a human arm, the robot arm is composed of aluminium tubes, articulated by six joints, allowing for a high range of flexibility in your automation installation.
  • Page 12 Risk assessment requires an understanding of the hazards, risks and risk reduction measures for the robot application. Robot integration can require a basic level of mechanical and electrical training. UR20 PolyScope X User Manual...
  • Page 13 Sign into myur.universal-robots.com to access the portal. In the myUR portal, your cases are handled either by your preferred distributor, or escalated to Universal Robots Customer Service teams. You can also subscribe to robot monitoring and manage additional user accounts in your company.
  • Page 14 • PolyScope Software Handbook with descriptions and instructions for the software • The Service Handbook with instructions for troubleshooting, maintenance and repair • The Script Directory with scripting for in depth programming UR20 PolyScope X User Manual...
  • Page 15 300 mm x 231 mm x 50 mm TP weight 1.8 kg / 3.961 lb TP cable: Teach Pendant to Control Box 4.5 m / 177 in Robot cable: robot arm to Control Box Hiflex (PUR) 6 m / 236 in x 12.1 mm User Manual UR20 PolyScope X...
  • Page 16 3PE Teach Pendant when programming, or teaching, within the reach of the robot application. See ISO 10218-2. Power button Overview of Emergency Stop button USB port (comes with a dust cover) 3PE buttons UR20 PolyScope X User Manual...
  • Page 17 2. Your Robot Freedrive A Freedrive robot symbol is located under each 3PE button, as illustrated below. User Manual UR20 PolyScope X...
  • Page 18 2. Your Robot UR20 PolyScope X User Manual...
  • Page 19 Tight- There is full pressure on press the 3PE button. It is Robot movement is stopped in Manual (Grip pressed all the way mode. Robot is in 3PE Stop. tightly) down. Button release Button press User Manual UR20 PolyScope X...
  • Page 20 • Main screen - with fields and options to manage and monitor robot actions. • Multitask screen - with fields and options often relating to the main screen. UR20 PolyScope X User Manual...
  • Page 21 "tap". A commercially available stylus may be used to make selections on the screen if desired. The following section lists and defines the icons/tabs and buttons in the Polyscope X interface. The following section lists and defines the icons/tabs and buttons in the Polyscope X interface. User Manual UR20 PolyScope X...
  • Page 22 TCPs Modifies the current Program robot program Controls and/or regulates robot movement Access to About More information Settings Displays information About about the robot configure settings Settings about the software, eg language and units UR20 PolyScope X User Manual...
  • Page 23 2. Your Robot Shutdown shutdown the robot Displays the active safety Safety Checksum checksum and detailed parameters Footer Buttons Icon Title Description User Manual UR20 PolyScope X...
  • Page 24 The robot is in a fault state, such as e-stop. • Blue, Transition. The robot changing state, such as brake releasing. Starts the current Play loaded program. Allows a program Step to be run single- stepped UR20 PolyScope X User Manual...
  • Page 25 2. Your Robot Halts the current Stop loaded program Manages the robot state. When Speed slider RED, press it to make the robot operational User Manual UR20 PolyScope X...
  • Page 26 The light ring at the base of the robot arm provides status indication as described in the table below. NOTICE The light ring configuration can be modified and/or disabled by the user. Robot base Light ring Base UR20 PolyScope X User Manual...
  • Page 27 Robot can be moved by hand Blue 1. Backdrive Not Automatic, Not being moved 2. Freedrive 1. Booting process No power available to the robot arm 1. Fault 2. Violation 3. Loading Screen 4. System power OFF User Manual UR20 PolyScope X...
  • Page 28 It is essential to observe and follow all assembly instructions in the following sections of this manual. NOTICE Universal Robots disclaims any and all liability if the robot (arm Control Box with or without Teach Pendant) is damaged, changed or modified in any way. Universal Robots cannot be held responsible for any damages...
  • Page 29 Indicates a hazardous situation that, if not avoided, can result in injury. GROUND Indicates grounding. PROTECTIVE GROUND Indicates protective grounding. NOTICE Indicates the risk of damage to equipment and/or information to be noted. READ MANUAL Indicates more detailed information that should be consulted in the manual. User Manual UR20 PolyScope X...
  • Page 30 WARNING Handling tools/end effectors with sharp edges and/or pinch points can result in injury. • Make sure tools/end effectors have no sharp edges or pinch points. • Protective gloves and/or protective eyeglasses could be required. UR20 PolyScope X User Manual...
  • Page 31 NOTICE Very strong magnetic fields can damage the robot. • Do not expose the robot to permanent magnetic fields. READ MANUAL Verify all mechanical and electrical equipment is installed according to relevant specifications and warnings. User Manual UR20 PolyScope X...
  • Page 32 *Stop the robot with power available to the drives, while maintaining the trajectory. Drive power is maintained after the robot is stopped. *Universal Robots robots’ Category 2 stops are further described as SS1 or as SS2 type stops according to IEC 61800-5-2.
  • Page 33 5. Lifting and Handling 5. Lifting and Handling User Manual UR20 PolyScope X...
  • Page 34 Lifting or movement of heavy parts can cause injury. • Lifting apparatus/aid to lift can be required. WARNING Incorrect assembly of components and/or wiring can lead to injury. • Personal protective gear (footwear, eyewear, gloves) can be required. UR20 PolyScope X User Manual...
  • Page 35 5.2. Robot Arm Description The robot arm, depending upon weight, can be carried by one or two people unless the sling is provided. If the sling is provided, equipment for lifting and transport is required. User Manual UR20 PolyScope X...
  • Page 36 Do not tie a knot in the sling. NOTICE There may be specific regulations for inspecting lifting equipment in your region. • Observe local regulations regarding inspection of lifting equipment. • Observe local regulations regarding inspection frequency of lifting equipment. UR20 PolyScope X User Manual...
  • Page 37 5. Lifting and Handling Table Round Sling Description Item Round sling 1T x 1M/2M Color Violet (according to EN 1492-2) Material Polyester 1.0 (1000 KG) Straight Lift WLL Factor 0.8 (800 KG) Choke Hitch User Manual UR20 PolyScope X...
  • Page 38 Plug in the mains, or main power cable, of the Control Box. WARNING Failure to secure the robot arm to a sturdy surface can lead to injury caused by the robot falling. • Ensure the robot arm is secured to a sturdy surface UR20 PolyScope X User Manual...
  • Page 39 The tool should not be moved close to the cylindrical volume, as it causes the joints to move too fast even when the tool is moving slowly. This can present a risk to property and functionality. Front Tilted User Manual UR20 PolyScope X...
  • Page 40 : Torque around the base z axis. • : Forces along base z axis. • : Tilting torque in any direction of the base xy plane. • : Force in any direction in the base xy plane. Force and moment at base flange definition. UR20 PolyScope X User Manual...
  • Page 41 The robot arm's operational loads can cause movable platforms, such as tables or mobile robots, to tip over, resulting in possible accidents. • Prioritize safety by implementing adequate measures to prevent the tipping of movable platforms at all times. User Manual UR20 PolyScope X...
  • Page 42 IP ratings of the robot (IP54), Teach Pendant (IP54) and Control Box (IP44) WARNING Unstable mounting can lead to accidents. • Always make sure the robot parts are properly and securely mounted and bolted in place. 6.3.1. Singularity UR20 PolyScope X User Manual...
  • Page 43 You can also consider mounting the robot base on a horizontal surface to rotate the central cylinder from a vertical to horizontal orientation, potentially moving it away from the critical areas of the task. User Manual UR20 PolyScope X...
  • Page 44 Whether the robot arm is fixed (mounted to a stand, wall or floor) or in a movable installation (linear axis, push cart, or mobile robot base), it must be installed securely to ensure stability through all motions. UR20 PolyScope X User Manual...
  • Page 45 8 FG8 0.008 X 13 9,5 ± 0,5 10.50 THRU ALL Mounting Plate with Pins for Robot Base 0.05 8 h6 - 0.009 8 h6 - 0.009 Dimensions and hole pattern for mounting the robot. User Manual UR20 PolyScope X...
  • Page 46 (Torque values have been updated SW 5.18. Earlier printed version will show different values) If accurate re-mounting of the robot is required, use the Ø8 mm. hole and Ø8x13 mm. slot with corresponding ISO 2338 Ø8 h6 positioning pins in the mounting plate. UR20 PolyScope X User Manual...
  • Page 47 A wet Control Box can cause fatal injury. • Make sure the Control Box and cables do not come into contact with liquids. • Place the Control Box (IP44) in an environment suited for the IP rating. User Manual UR20 PolyScope X...
  • Page 48 Do not extend a 12 m Robot Cable. NOTICE Connecting the Base Flange Cable directly to any Control Box can result in equipment or property damage. • Do not connect the Base Flange Cable directly to the Control Box. UR20 PolyScope X User Manual...
  • Page 49 Improper robot connection can result in loss of power to the robot arm. • Do not disconnect the Robot Cable when the robot arm is turned on. • Do not extend or modify the original Robot Cable. User Manual UR20 PolyScope X...
  • Page 50 The electrical specifications are shown in the table below. Parameter Unit Input voltage External mains fuse (90- 88151515 200V) External mains fuse (200- 264V) Input frequency Stand-by power <1.5 150150250250300 325325500500750 Nominal operating power UR20 PolyScope X User Manual...
  • Page 51 Ensure other equipment shall not supply power to the robot I/O when the robot is locked out. • Ensure all cables are connected correctly before the Control Box is powered. Always use the original power cord. User Manual UR20 PolyScope X...
  • Page 52 Those which are reserved will have the name of the safety function in place of the default or user defined name. Configurable outputs reserved for safety settings cannot be selected, they are displayed as LEDs only. UR20 PolyScope X User Manual...
  • Page 53 7. Application Tab Figure 1.2:   Communication screen displaying I/Os. User Manual UR20 PolyScope X...
  • Page 54 Make sure all equipment not rated for water exposure remain dry. If water is allowed to enter the product, lockout-tagout all power and then contact your local Universal Robots service provider for assistance. • Only use the original cables supplied with the robot only. Do not use the robot for applications where the cables are subject to flexing.
  • Page 55 EMC problems are found to happen usually in welding processes and are normally prompted by error messages in the log. Universal Robots cannot be held responsible for any damages caused by EMC problems.
  • Page 56 Plug in the active adapter before powering on the Control Box. • In some cases the external monitor must be powered on before the Control Box. • Use an active adapter that supports revision 1.2 as not all adapters function out-of-the-box. 8.3. Ethernet UR20 PolyScope X User Manual...
  • Page 57 Replace the cap at the base of the Control Box with an appropriate cable gland to connect the cable to the Ethernet port. The electrical specifications are shown in the table below. Parameter Unit Communication speed 1000 Mb/s User Manual UR20 PolyScope X...
  • Page 58 Teach Pendant port. Fully open/loosen the plastic grommet at the bottom of the control box and remove the Teach Pendant plug and cable. Gently remove the Teach Pendant cable and Teach Pendant. Clips Plastic grommet UR20 PolyScope X User Manual...
  • Page 59 There is always a length of cable with the Teach Pendant that can present a tripping hazard if it is not stored properly. • Always store the Teach Pendant and the cable properly to avoid tripping hazards. User Manual UR20 PolyScope X...
  • Page 60 Tap Apply to restart the system. PolyScope continues to run. Tap Confirm Safety Configuration to complete the 3PE Teach Pendant software installation. As the robot restarts and initializes, light-press the 3PE button and tap Start on PolyScope. UR20 PolyScope X User Manual...
  • Page 61 Configurable for safety Gray with black text General purpose digital I/O Green with black text General purpose analog I/O In the GUI, you can set up configurable I/O as either safety-related I/O or general purpose I/O. User Manual UR20 PolyScope X...
  • Page 62 The electrical specifications for both the internal and external power supply are shown below. Terminals Parameter Unit Internal 24V power supply [PWR - GND] Voltage Current [PWR - GND] External 24V input requirements Voltage [24V - 0V] [24V - 0V] Current *3.5A for 500ms or 33% duty cycle. UR20 PolyScope X User Manual...
  • Page 63 [COx / DOx] IEC 61131-2 Type Digital Inputs [EIx/SIx/CIx/DIx] Voltage [EIx/SIx/CIx/DIx] OFF region [EIx/SIx/CIx/DIx] ON region [EIx/SIx/CIx/DIx] Current (11-30V) [EIx/SIx/CIx/DIx] Function PNP + Type [EIx/SIx/CIx/DIx] IEC 61131-2 Type *For resistive loads or inductive loads of maximum 1H. User Manual UR20 PolyScope X...
  • Page 64 Output. Use the PolyScope interface to define a set of configurable I/O for safety functions. CAUTION Failure to verify and test the safety functions regularly can lead to hazardous situations. • Safety functions shall be verified before putting the robot into operation. • Safety functions shall be tested regularly. UR20 PolyScope X User Manual...
  • Page 65 Safety Connecting Most applications require one or more extra emergency stop buttons. The illustration emergency below shows how one or more emergency stop buttons can be connected. stop buttons Safety Safety User Manual UR20 PolyScope X...
  • Page 66 In this example a safety mat is a safety device safeguard device where the robot is where automatic resume is appropriate. This stopped when the door is opened. example is also valid for a safety laser scanner. UR20 PolyScope X User Manual...
  • Page 67 If the safeguard interface is used to interact with a light curtain, a reset outside the safety Stop with perimeter is required. The reset button must be a two channel type. In this example the I/O reset button configured for reset is CI0-CI1. Safety Configurable7Inputs 8.6.1. Safety I/O Signals User Manual UR20 PolyScope X...
  • Page 68 8. Installation Description The I/O are divided between inputs and outputs and are paired up so that each function provides a Category 3 PLd capability. PolyScope X screen displaying the Input signals. Figure 1.3:   UR20 PolyScope X User Manual...
  • Page 69 Stop Category 0 is triggered. Trigger planes can also cause a transition to the reduced configuration. The safety system transitions to the normal configuration in the same way. User Manual UR20 PolyScope X...
  • Page 70 • Use the external reset to ensure resetting only when a person is not exposed to hazards. WARNING When Automatic Mode Safeguard stop is enabled, a safeguard Stop is not triggered in Manual Mode. UR20 PolyScope X User Manual...
  • Page 71 Hence, to comply with safety standards, the external machinery must require manual action in order to resume. System Stop was previously known as "System Emergency Stop" for Universal Robots robots. PolyScope can display "System Emergency Stop". User Manual UR20 PolyScope X...
  • Page 72 The UR robot safety system does not support multiple external Three- Position Enabling Devices. Operational Using a Three-Position Enabling device requires the use of an Operational Mode switch. Mode Switch The illustration below shows an Operational Mode switch. Configurable Inputs Operational mode Switch UR20 PolyScope X User Manual...
  • Page 73 Analog Output in current mode Current [AOx - AG] Voltage [AOx - AG] [AOx - AG] Resolution Analog Output in voltage mode [AOx - AG] Voltage [AOx - AG] Current [AOx - AG] Resistance [AOx - AG] Resolution User Manual UR20 PolyScope X...
  • Page 74 Wait For options and expressions. In the drop-down menus under Communication Interface, select required values. Any changes in values are immediately sent to the tool. If any installation values differ from what the tool is using, a warning appears. UR20 PolyScope X User Manual...
  • Page 75 You can use the digital I/O to communicate with other equipment if a common GND with other (0V) is established and if the machine uses PNP technology, see below. machines or PLCs Digital Inputs Digital Outputs Digital Inputs Digital Outputs 8.9.1. Digital Output User Manual UR20 PolyScope X...
  • Page 76 Dual Pin Dual Pin Power is used as a source of power for the tool. Enabling Dual Pin Power disables Power default tool digital outputs. UR20 PolyScope X User Manual...
  • Page 77 Do not press and hold the ON input or the POWER button without saving. • Use the OFF input for remote off control to allow the Control Box to save open files and shut down correctly. User Manual UR20 PolyScope X...
  • Page 78 The end effector can also be referred to as the tool and the workpiece in this manual. NOTICE UR provides documentation for the end effector to be integrated with the robot arm. • Refer to the documentation specific to the end effector/tool/workpiece for mounting and connection. UR20 PolyScope X User Manual...
  • Page 79 The UR20 tool I/O can require an accessory element to facilitate connection with tools. Accessories Depending on the tool, you can use the following tool I/O accessories: Tool Flange Adapter (see Tool Flange Accessories) and/or Tool Cable Adapter. User Manual UR20 PolyScope X...
  • Page 80 Analog in 3 or RS485- Digital Inputs 1 Digital Inputs 0 POWER 0V/12V/24V TO1/GND Digital Outputs 1 or Ground TO0/PWR Digital Outputs 0 or 0V/12V/24V Ground GROUND The tool flange is connected to GND (Ground). 8.11.2. Maximum Payload UR20 PolyScope X User Manual...
  • Page 81 You can verify the reach and payload of your robot in the Technical Specifications. Payload [kg] expanded payload full performance Center of gravity offset [mm] The relationship between the rated payload and the center of gravity offset. User Manual UR20 PolyScope X...
  • Page 82 The higher load on the joints can limit some motions inside the working range of the robot. The robot software automatically ensures the mechanical limits of the robot are not exceeded. NOTICE Using the expanded payload range does not void your robot warranty for this robot. UR20 PolyScope X User Manual...
  • Page 83 CAUTION Very long M8 bolts can press against the bottom of the tool flange and short circuit the robot. • Do not use bolts that extend beyond 10 mm to mount the tool. User Manual UR20 PolyScope X...
  • Page 84 Failure to tighten bolts properly cause injury due to loss of the adapter flange and/or end effector. • Ensure the tool is properly and securely bolted in place. • Ensure the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly. UR20 PolyScope X User Manual...
  • Page 85 *** When tool power is enabled, a 400 ms soft start time begins allowing a capacitive load of 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the capacitive load is not allowed. User Manual UR20 PolyScope X...
  • Page 86 Connect the wires Power (gray) to TO0 (blue) and Ground (red) to TO1 (pink). NOTICE Once the robot makes an Emergency Stop, the voltage is set to 0V for both Power Pins (power is off). UR20 PolyScope X User Manual...
  • Page 87 I/O tab must be define. There is voltage between the POWER Outputs connection and the shield/ground, even when the load is turned off. POWER It is recommended to use a protective diode for inductive loads, as shown below. POWER User Manual UR20 PolyScope X...
  • Page 88 10.7 Resolution Input voltage in current mode -0.5 Input current in current mode -2.5 Input resistance @ range 4mA to 20mA Ω Resolution Two examples of using Analog Input are shown in the following subsections. UR20 PolyScope X User Manual...
  • Page 89 RS485. A buffer stores data sent to the tool connector until the line goes idle. Once 1000 bytes of data have been received, the message is written on the device. Baud Rates 9.6k, 19.2k, 38.4k, 57.6k, 115.2k, 1M, 2M, 5M Stop Bits 1, 2 Parity None, Odd, Even User Manual UR20 PolyScope X...
  • Page 90 In the Payload field, in Active Payload, verify the payload mass. You can also verify the mounting position is correct, in the Robot graphic. Tap the UNLOCK button, for the robot to release its brake system. The robot vibrates and makes clicking sounds indicating it is ready to be programmed UR20 PolyScope X User Manual...
  • Page 91 10.1. General Cybersecurity Description Connecting a Universal Robots robot to a network can introduce cybersecurity risks. These risks can be mitigated by using qualified personnel and implementing specific measures for protecting the robot's cybersecurity. Implementing cybersecurity measures requires conducting a cybersecurity threat assessment.
  • Page 92 Disable SSH access when not needed. Prefer key-based authentication over password-based authentication • Set the robot firewall to the most restrictive usable settings and disable all unused interfaces and services, close ports and restrict IP addresses UR20 PolyScope X User Manual...
  • Page 93 Remove sensitive data from the robot before it is decommissioned. Pay particular attention to the URCaps and data in the program folder. • To ensure secure removal of highly sensitive data, securely wipe or destroy the SD card. User Manual UR20 PolyScope X...
  • Page 94 If you delay or dismiss, the update will only refresh when there is a new version. Follow the update steps. Restart PolyScope when the update is complete. NOTICE You can still update UR Connect even if it is NOT installed. UR20 PolyScope X User Manual...
  • Page 95 You should feel when the latching is disengaged, indicating the push-button is reset. Verify the situation and whether to reset the emergency stop. After resetting the emergency stop, restore power to the robot and resume operation. User Manual UR20 PolyScope X...
  • Page 96 Unnecessary moving of the robot arm can lead to property damage. • Do not move the joint more than 160 degrees, to ensure the robot can find its original physical position. • Do not move any joint more than necessary. 12.3. Operational Mode UR20 PolyScope X User Manual...
  • Page 97 *** When tool power is enabled, a 400 ms soft start time begins allowing a capacitive load of 8000 uF to be connected to the tool power supply at start-up. Hot-plugging the capacitive load is not allowed. User Manual UR20 PolyScope X...
  • Page 98 Automatic indicates the operational mode of the robot is set to Automatic. • Manual indicates the operational mode of the robot is set to Manual. PolyScope X is automatically in Manual Mode when the Safety I/O configuration with Three- Position Enabling Device is enabled. UR20 PolyScope X User Manual...
  • Page 99 Disclaimer Universal Robots cannot be held responsible for any damage caused by transportation of the equipment. You can see the recommendations for transportation without packaging at: universal- robots.com/manuals...
  • Page 100 It should be made clear if the e-Stop on the Teach Pendant stops the whole installation or only its connected robot. If there could be confusion, store the Teach Pendant such that the e-Stop button is not visible or usable. UR20 PolyScope X User Manual...
  • Page 101 Any maintenance work, inspection and calibration shall be conducted in compliance with all safety instructions in this manual and according to local requirements. Repair work shall be done by Universal Robots. Client designated, trained individuals can do repair work, provided they follow the Service Manual.
  • Page 102 Drying: Finally, the cleaned surface may be left to air dry or dried using towels. WARNING DO NOT USE BLEACH in any diluted cleaning solution. UR20 PolyScope X User Manual...
  • Page 103 • Contact with children and animals is prohibited. Robot Arm The table below is a checklist of the type of inspections recommended by Universal Robots. Inspection Perform inspections regularly as advised in the table. Any referenced parts found to be in an Plan unacceptable state must be rectified or replaced.
  • Page 104 14. Maintenance and Repair Robot Arm NOTICE Inspection Using compressed air to clean the robot arm can damage the robot arm Plan components. • Never use compressed air to clean the robot arm. UR20 PolyScope X User Manual...
  • Page 105 3PE button in this position. Power button 3PE button 3. Pull/Push the robot to a horizontally elongated position and release. 4. Verify the robot arm can maintain the position without support and without activating Freedrive. User Manual UR20 PolyScope X...
  • Page 106 15. Disposal and Environment Description Universal Robots robots must be disposed of in accordance with the applicable national laws, regulations and standards. this responsibility rests with the owner of the robot. UR robots are produced in compliance with restricted use of hazardous substances to protect the environment;...
  • Page 107 Wire bundles with copper wires, PCB's, various electronic components, plastic connectors, and minor mechanical components e.g. screws, nuts, spacers (steel, brass, and plastic) • A lithium battery is mounted to a PCB. See the Service Manual for how to remove. User Manual UR20 PolyScope X...
  • Page 108 A part of the risk assessment is to determine the safety configuration settings, as well as the need for additional emergency stops and/or other protective measures required for the specific robot application. UR20 PolyScope X User Manual...
  • Page 109 Stopping Distance Limit: Used to limit the stopping distance of the robot. If either of the above is used, there is no need for manually performed periodic stopping performance testing. The robot safety control does continuous monitoring. User Manual UR20 PolyScope X...
  • Page 110 • Likelihood of occurrence • Possibility to avoid the hazardous situation Potential Universal Robots identifies the potential significant hazards listed below for consideration hazards by the integrator. Other significant hazards can be associated with a specific robot application. • Penetration of skin by sharp edges and sharp points on tool/end effector or tool/end effector connector.
  • Page 111 One area (left) is defined for radial motions when the wrist 1 joint is at least 1650 mm from the base of the robot. The other area (right) is within 400 mm of the base of the robot, when moving tangentially. User Manual UR20 PolyScope X...
  • Page 112 If user-defined settings are used, the program speed is dynamically adjusted to always comply with the selected limits. Joint 0 (BASE) Stopping distance in meters for 33% of 20 kg. Stopping distance in meters for 66% of 20 kg. UR20 PolyScope X User Manual...
  • Page 113 20 kg Stopping distance in meters for expanded payload of 25 kg Joint 0 (BASE) Stopping time in seconds for 33% of 20 kg. Stopping time in seconds for 66% of 20 kg. User Manual UR20 PolyScope X...
  • Page 114 20 kg. Stopping time in seconds for expanded payload of 25 kg. Joint 1 (SHOULDER) Stopping distance in meters for 33% of 20 kg. Stopping distance in meters for 66% of 20kg UR20 PolyScope X User Manual...
  • Page 115 20 Stopping distance in meters for expanded payload of 25 kg Joint 1 (SHOULDER) Stopping time in seconds for 33% of 20 kg Stopping time in seconds for 66% of 20 kg User Manual UR20 PolyScope X...
  • Page 116 20 kg. Stopping time in seconds for expanded payload of 25 kg. Joint 2 (ELBOW) Stopping distance in meters for 33% of 20 kg. Stopping distance in meters for 66% of 20 kg UR20 PolyScope X User Manual...
  • Page 117 20 kg Stopping distance in meters for expanded payload of 25 kg Joint 2 (ELBOW) Stopping time in seconds for 33% of 20 kg Stopping time in seconds for 66% of 20 kg User Manual UR20 PolyScope X...
  • Page 118 16. Risk Assessment Stopping time in seconds for maximum payload of 20 kg Stopping time in seconds for expanded payload of 25 kg UR20 PolyScope X User Manual...
  • Page 119 Test the system connected to Robot Moving output, Robot Not Stopping output, Reduced Mode output, or Not Reduced Mode output to verify the output changes are detected. • Determine the commissioning requirements of your robot application. User Manual UR20 PolyScope X...
  • Page 120  e-Series  6=UR16e  sequential numbering, restarting at 0 each year Universal Robots e-Series (UR3e, UR5e, UR10e and UR16e) shall only be put into service upon being integrated into a final complete machine Incorporation: (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 121 The manufacturer, or his authorised representative, shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities. Approval of full quality assurance system (ISO 9001), by the notified body Bureau Veritas, certificate #DK015892. User Manual UR20 PolyScope X...
  • Page 122  sequential numbering, restarting at 0 each year Incorporation: Universal Robots e-Series (UR3e, UR5e, UR10e and UR16e) shall only be put into service upon being integrated into a final complete machine (robot application or cell), which conforms with the provisions of the Machinery Directive and other applicable Directives.
  • Page 123 The manufacturer, or his authorised representative, shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities.Approval of full quality assurance system (ISO 9001), by the notified body Bureau Veritas, certificate #DK015892. User Manual UR20 PolyScope X...
  • Page 124 Description Third party certification is voluntary. However, to provide the best service to robot integrators, Universal Robots chooses to certify its robots at the recognized test institutes listed below. You can find copies of all certificates in the chapter: Certificates.
  • Page 125 EU declarations. European directives are available on the official EU directives homepage: http://eur-lex.europa.eu. According to the Machinery Directive, Universal Robots’ robots are partly completed machines, as such a CE mark is not to be affixed. You can find the Declaration of Incorporation (DOI) according to the Machinery Directive in the chapter: Declarations and Certificates.
  • Page 126 20. Certificates 20. Certificates TÜV Rheinland UR20 PolyScope X User Manual...
  • Page 127 20. Certificates TÜV Rheinland North America User Manual UR20 PolyScope X...
  • Page 128 (Cd) biphenyls (PBB) (Cr+6) (PBDE) UR Robots 机器人：基本系统 UR3 / UR5 / UR10 /  UR3e / UR5e /  UR10e   UR16e /  UR20 / UR30 O: Indicates that this toxic or hazardous substance contained in all of the homogeneous materials for this part is below the limit  requirement in SJ/T11363‐2006. O: 表示该有毒有害物质在该部件所有均质材料中的含量均在SJ/T 11363‐2006规定的限量要求以下。  X: Indicates that this toxic or hazardous substance contained in at least one of the homogeneous materials used for this part is above  the limit requirement in SJ/T11363‐2006.  X: 表示该有毒有害物质至少在该部件的某一均质材料中的含量超出SJ/T 11363‐2006规定的限量要求。 （企业可在此处，根据实际情况对上表中打“X”的技术原因进行进一步说明。） Items below are wear‐out items and therefore can have useful lives less than environmental use period:     下列项目是损耗品,因而它们的有用环境寿命可能短于基本系统和可选项目的使用时间: Drives, Gaskets, Probes, Filters, Pins, Cables, Stiffener, Interfaces 电子驱动器,  垫圈, 探针, 过滤器, 别针, 缆绳, 加强筋, 接口 Refer to product manual for detailed conditions of use.  详细使用情况请阅读产品手册. Universal Robots encourages that all Electronic Information Products be recycled but does not assume responsibility or liability.  Universal Robots 鼓励回收再循环利用所有的电子信息产品, 但 Universal Robots 不负任何责任或义务 To the maximum extent permitted by law, Customer shall be solely responsible for complying with, and shall otherwise assume all liabilities that  may be imposed in connection with, any legal requirements adopted by any governmental authority related to the Management Methods for  Controlling Pollution by Electronic Information Products (Ministry of Information Industry Order #39) of the Peoples Republic of China otherwise  encouraging the recycle and use of electronic information products.  Customer shall defend, indemnify and hold Universal Robots harmless from  any damage, claim or liability relating thereto.  At the time Customer desires to dispose of the Products, Customer shall refer to and comply with  the specific waste management instructions and options set forth  at www.universal‐robots.com/about‐universal‐robots/social‐responsibility and  www.teradyne.com/company/corporate‐social‐responsibility, as the same may be amended by Teradyne or Universal Robots.   UR20 PolyScope X User Manual...
  • Page 129 20. Certificates KC Safety User Manual UR20 PolyScope X...
  • Page 130 It is verified that foregoing equipment has been registered under the Clause 3, Article 58-2 of Radio Waves Act. 2024년(Year) 03월(Month) 21일(Day) 국립전파연구원장 Director General of National Radio Research Agency "적합성평가표시" ※ 적합등록 방송통신기자재는 반드시 를 부착하여 유통하여야 합니다. 위반시 과태료 처분 및 등록이 취소될 수 있습니다. UR20 PolyScope X User Manual...
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  • Page 132 Software Name: PolyScope X Software Version: 10.7 10.8.107 Document Version:...