Universal Robots UR5e PolyScope X User Manual page 139

21. Initialize
On the footer, to the left, the Initialize button indicates the status of the robot using colours:
•
Black, Power off. The robot arm is in a stopped state.
•
Orange, Idle. The robot arm is on, but not ready for normal operation.
•
Green, Normal. The robot arm is on and ready for normal operation.
•
Red, Error. The robot is in a fault state, such as e-stop.
•
Blue, Transition. The robot is changing state, such as brake releasing.
21.1. Starting the Robot Arm
WARNING
Always verify the actual payload and installation are correct before starting up the robot arm.
If these settings are incorrect, the robot arm and Control Box will not function correctly and
may become dangerous to people or equipment.
CAUTION
Ensure the robot arm is not touching an object (e.g., a table) because a collision between the
robot arm and an obstacle might damage a joint gearbox.
To start the robot:
•
Tap the Robot State Off, followed by the START button with the green icon to start the initialization
process. Then, the icon turns orange to indicate the power is on and in Idle.
•
Tap the UNLOCK button with the orange icon to release the brakes.
•
Tap the POWER OFF button with the red icon to power off the robot arm.
21.2. Safely Setting the Active Payload
Before using Polyscope X, verify that the Robot Arm and Control Box are correctly installed.
1. On the Teach Pendant, press the emergency stop button.
2. On the Teach Pendant, press the power button and allow the system to start, loading Polyscope X.
3. Tap the Robot State Off button on the bottom left
4. Unlock the emergency stop button to change robot state from Emergency Stopped to Power off.
5. Step outside the reach (workspace) of the robot.
6. On the Initialize popup, tap the START button and allow robot state to change to Locked.
7. In the Payload field, in Active Payload, verify the payload mass. You can also verify the mounting
position is correct, in the Robot graphic.
8. 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
User Manual UR5e PolyScope X