Universal Robots UR3/CB3, Original Instructions Manual, Page: 125 / 256

11.2 Getting Started
The power to the robot arm can be turned off by touching the
OFF
button on the initialization
screen. The robot arm is also powered off automatically when the control box shuts down.
11.2.4 Quick Start
To quickly start up the robot after it has been installed, perform the following steps:
1. Press the emergency stop button on the front side of the teach pendant.
2. Press the power button on the teach pendant.
3. Wait a minute while the system is starting up, displaying text on the touch screen.
4. When the system is ready, a popup will be shown on the touch screen, stating that the robot
needs to be initialized.
5. Touch the button on the popup dialog. You will be taken to the initialization screen.
6. Wait for the
Confirmation of applied Safety Configuration
dialog and press the
Confirm Safety Configuration
button. This applies an initial set of safety parameters
that need to be adjusted based on a risk assessment.
7. Unlock the emergency stop button. The robot state changes from
Emergency Stopped
to
Power off
.
8. Step outside the reach (workspace) of the robot.
9. Touch the
On
button on the touch screen. Wait a few seconds until robot state changes to
Idle
.
10. Verify that the payload mass and selected mounting are correct. You will be notified if the
mounting detected based on sensor data does not match the selected mounting.
11. Touch the
Start
button on the touch screen. The robot now makes a sound and moves a little
while releasing the brakes.
12. Touch the
OK
button, bringing you to the
Welcome
screen.
11.2.5 The First Program
A program is a list of commands telling the robot what to do. PolyScope allows people with only
little programming experience to program the robot. For most tasks, programming is done entirely
using the touch panel without typing in any cryptic commands.
Tool motion is the part of a robot program that teaches the Robot Arm how to move. In PolyScope,
tool motions are set using a series of waypoints . The combined waypoints form a path that the
Robot Arm follows. A waypoint is set by using the Move Tab, manually moving (teaching) the
robot to a certain position, or it can be calculated by software. Use the Move tab
(see 13.1)
to
move the Robot Arm to a desired position, or teach the position by pulling the Robot Arm into
place while holding the Freedrive button behind the Teach Pendant.
Besides moving through waypoints, the program can send I/O signals to other machines at certain
points in the robot’s path, and perform commands like if. . . then and loop , based on variables and
I/O signals.
The following is a simple program that allows a Robot arm that has been started up, to move
between two waypoints.
Version 3.10
Cop
yr
ight
©
2009–2019
b
y
Univ
ersal
Robots
A/S
.
All
rights
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v
ed.
II-27 CB3