
11.5 Initialization Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-31
II-33
12.1 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-33
12.2 Pose Editor Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-33
II-37
13.1 Move Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-37
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-37
Feature and Tool Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-38
Move Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-38
Move Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-38
Freedrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-38
13.2 I/O Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-39
13.3 MODBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-40
13.4 AutoMove Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-41
Load/Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-42
TCP Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-43
Adding, renaming, modifying and removing TCPs
. . . . . . . . . . . . . . . . . .
II-43
The default and the active TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-44
Teaching TCP position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-44
Teaching TCP orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-45
Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-45
Center of gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-45
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-46
I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-47
I/O Signal Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-48
Assigning User-defined Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-48
I/O Actions and I/O Tab Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-48
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-49
Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-49
MODBUS client I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-50
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-54
13.12.1 Using a feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-55
13.12.2 New Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-56
13.12.3 New Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-56
13.12.4 Plane Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-58
13.12.5 Example: Manually Updating a Feature to Adjust a Program . . . . . . . . . . . . .
II-58
13.12.6 Example: Dynamically Updating a Feature Pose . . . . . . . . . . . . . . . . . . . .
II-59
13.13 Conveyor Tracking Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-60
13.14 Smooth Transition Between Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-61
13.14.1 Adjusting Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . .
II-61
Default Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-62
13.16 Log Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-63
UR3
/
CB3
vi
Version 3.10
Cop
yr
ight
©
2009–2019
b
y
Univ
ersal
Robots
A/S
.
All
rights
reser
v
ed.
Содержание UR3/CB3
Страница 1: ...Universal Robots UR3 CB3 Original instructions en US version...
Страница 2: ......
Страница 3: ...Universal Robots UR3 CB3 Euromap67 Version 3 10 Original instructions en US Version...
Страница 12: ...UR3 CB3 x Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 15: ...Part I Hardware Installation Manual...
Страница 16: ......
Страница 36: ...UR3 CB3 I 22 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 42: ...4 4 Maximum Payload UR3 CB3 I 28 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 62: ...5 7 Robot connection UR3 CB3 I 48 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 66: ...UR3 CB3 I 52 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 90: ...UR3 CB3 I 76 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 92: ...UR3 CB3 I 78 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 94: ...E 1 Table 1 UR3 CB3 I 80 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 95: ...E 1 Table 1 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved I 81 UR3 CB3...
Страница 97: ...E 2 Table 2 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved I 83 UR3 CB3...
Страница 98: ...E 2 Table 2 UR3 CB3 I 84 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 99: ...Part II PolyScope Manual...
Страница 100: ......
Страница 122: ...10 13 Safety I O CB3 II 24 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 134: ...12 2 Pose Editor Screen CB3 II 36 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 166: ...13 18 Run Tab CB3 II 68 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 225: ...Part III EUROMAP 67 Interface...
Страница 226: ......
Страница 230: ...16 2 Statutory notice CB3 III 6 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 246: ...18 4 I O action and wait CB3 III 22 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 250: ...19 2 Uninstalling CB3 III 26 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Страница 254: ...20 4 Digital Outputs CB3 III 30 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...