Universal Robots UR10/CB3, User Manual

Page: 131 / 249

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 settings are set
correctly before operating the Freedrive button. 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.
1.23.2. I/O Tab
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, including 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 installation (see
1.20.13. Safety I/O on page 104 ); those which are
reserved will have the name of the safety function in place of the default or user defined name.
User Manual 123 UR10
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