Universal Robots UR10 Installation Manual Download | Manualshive

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Installation Guide (en) 1.3.3

Table of Contents

1. Purpose ...................................................................................................................... 3

1.1 Disclaimer .......................................................................................................... 3

1.2 Company details ................................................................................................ 3

1.3 How to use this guide ......................................................................................... 3

2. Mechanical Set Up ...................................................................................................... 4

3. Payload / Center of Gravity Offset ............................................................................... 5

4. Motion Control ............................................................................................................. 6

4.1 Acceleration ....................................................................................................... 7

4.2 Speed................................................................................................................. 7

5. I/O Ports ...................................................................................................................... 8

5.1 Inputs and Outputs ............................................................................................. 8

6. Programming .............................................................................................................. 9

6.1 Processing ......................................................................................................... 9

6.2 Protective Stop ................................................................................................. 10

6.3 UR+/URCaps ................................................................................................... 10

6.4 Interfaces ......................................................................................................... 10

6.5 Safety ............................................................................................................... 11

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Summary of Contents for UR10

Page 1: ...stallation Guide ORIGINAL INSTRUCTIONS EN Version 1 3 3 Robot CB Series UR3 UR5 UR10 e Series UR3e UR5e UR10e UR16e Control Box CB Series Control Box Control Box Merge e Series Control Box OEM AC OEM...

Page 2: ...iversal 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 Unive...

Page 3: ...Company details 3 1 3 How to use this guide 3 2 Mechanical Set Up 4 3 Payload Center of Gravity Offset 5 4 Motion Control 6 4 1 Acceleration 7 4 2 Speed 7 5 I O Ports 8 5 1 Inputs and Outputs 8 6 Pro...

Page 4: ...can change with future versions by further findings This approach is intended to simplify and structure the robot integrations and robot installation auditing 1 2 Company details Universal Robots A S...

Page 5: ...UR10 Linear Axis YES NO 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 s...

Page 6: ...of gravity of the total payload tool workpiece Example for UR5 CB3 UR User Manual Chapter Maximum Payload Payload Center of Gravity UR Support Site Article Setting payload and center of gravity when...

Page 7: ...sary stop robot with script command stopl UR Support Site Article Circular path using MoveP MoveC UR Script Manual function stopl Skipped Waypoint entries in the log file YES NO Waypoints in the progr...

Page 8: ...se a reasonable ratio between speed and acceleration depending on the distance of the waypoints UR User Manual Chapter Product warranty 4 2 Speed Relevant Description Further Information Checked YES F...

Page 9: ...perly configured and that the internal 24 V supply of the robot is not tied to the external 24 V supply It is not good practice to have the outputs of two different 24 V power supplies connected toget...

Page 10: ...Thread Switch case Used YES NO Verify that switch case statements are used in a non stressful way on robot Do not use blend in last or first waypoints in cases It could cause problems when jumping thr...

Page 11: ...r code C153 Protective Stop joint positions deviates from path 6 3 UR URCaps Relevant Description Further Information Checked URCaps installed YES NO Unnecessary URCaps software delay the program star...

Page 12: ...dards Speed Slider limits during program run YES NO Check that the safe velocities are set correctly and do not restrict the productivity of the robot UR User Manual Chapter General Limits Safety Scan...

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