• Welcome to Universal Robots and Zacobria course.

• The Technology

- Tech. Data

- Hardware

- Software – Programming.

UR 5 and UR 10

Universal Robots was founded in 2005 with the aim to make robotic technology available to all.

Esben Østergaard, one of the founders and current CTO worked with colleagues on their thesis on modular robots. Together they came to the conclusion that the robot market was characterised by heavy, expensive and cumbersome robots. And so the idea of creating a light robot arose.

Robot Control125Hz

Control

Regulate jointsPosition Speed 2 kHz

MotorcontrolCurrent, 3-phase

25kHz3-phase PMSM control

Course Generation

Regulation basedon 2 Encoders

Software

User Interface:Java

Controller: C/C++

OS: Realtime-Linux

Embedded: C, ASM

Mounting and Start up

• Workspace

• Mounting foot of the robot

• The Tool flange

• Electrical Connections

• Electrical Interfaces

• POLYSCOPE user interface

Low weight, 18 Kg and 28 Kg Six-axis Robotic arm Lifting capacity 5 kg (UR5) 10 kg (UR10) Rotation angle per joint+/- 360 Grad Harmonic Drive gears

Modular Design: 2 sizes joints x 3 Bus-based development Servo Motor in each joint

Electrical Interfaces Controllerbox

Inputs and OutputsControllerbox Digital and Analog

8 Digital Inputs 8 Digital Outputs

2 A

nalo

g In

puts

2 A

nalo

g O

utpu

ts

Max. Load 24 V. Powersupply: 800 mA

Inputs and OutputsTool Digital and Analog

Max. Load 12/24 V. Powersupply: 600 mA

Programming the Robot

Grafical User Interface (PolyScope) Script Level (URScript)

• Videos of Applications examples.• www.zacobria.com

• Any questions before we move into the programming ?

• Singularity.

• I/O programming.

• Script Programming.

Command: Move

„Blend“„Blend“ If a "blend is set, the robot is led around the waypoint, so that the robot must not stop at that point. "Blends" may not overlap, so that it is not possible to set a "blend", which overlaps a blend radius of a previous or next point. A stop point is a waypoint with a "blend" of 0mm.

Note to the I / O timingIf the waypoint is a stop point with an I / O command as the next command, the I / O command is performed when the robotstops at the waypoint. However, if the waypoint has a "blend“, the following I / O will run, when the robot reaches the blend.