Welcome to Universal Robots and Zacobria course The

• 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.

Control Robot Control 125 Hz Regulate joints Position Speed 2 k. Hz Motorcontrol Current, 3 -phase 25 k. Hz Course Generation Regulation based on 2 Encoders 3 -phase PMSM control

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 (UR 5) 10 kg (UR 10) 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 Outputs ts na log 2 A log na 2 A Max. Load 24 V. Powersupply: 800 m. A Ou tp u 8 Digital Outputs Inp 8 Digital Inputs Digital and Analog ut s Controllerbox

Inputs and Outputs Tool Max. Load 12/24 V. Powersupply: 600 m. A Digital and Analog

Programming the Robot Ø Grafical User Interface (Poly. Scope) Ø 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“ 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 0 mm. Note to the I / O timing If the waypoint is a stop point with an I / O command as the next command, the I / O command is performed when the robot stops at the waypoint. However, if the waypoint has a "blend“, the following I / O will run, when the robot reaches the blend.