Robotics
work in progess...
We have a UR5e robot in our lab and check the official user manual from Universal Robots.
| Step | Description | Pictures |
|---|---|---|
| Step 1 | Release all 4 brakes of robot platform (turn red gearwheel) |  |
| Step 2 | Move the robot away from walls and put away chairs (avoid obstacles!) |  |
| Step 3 | Apply the brakes again and double-check that the robot platform is not moving anymore! IMPORTANT: Black cable from robot has to point to table and chairs (on the image the platform is in the wrong position and you have to turn it 180°). Otherwise when controlling via ServoPose, the robot will point to the wall. |
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| Step 4 | Connect the controller box of the robot to a power socket. |  |
| Step 5 | Grab the teach pendant (= touchscreen) and switch on the robot by pressing the button beside the emergency stop. |
 
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| Still step 5 :) | Always start in „local mode“ and check if the numbers and letters (91F1…) on the right side of the icon are the same as on the image (they indicate whether the safety settings are correct). |
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| Step 6 | Press „Power off“ (bottom left). |  |
| Step 7 | Press „ON“ to switch on the robot, wait and then press „START“ to activate the robot. |
  
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| Step 8 | Go to „Installation > General“ and select „Home“. |  |
| Step 9 | ALWAYS start with the robot in ZERO POSITION > press „Zero Position“! |  |
| Step 10 | Hold „Move robot to: Zero Position“ pressed until the robot is in Zero Position (standing in straight position) |
 
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| Step 11 | Press „Continue“. |  |
| When testing something new... | ||
| Step 12 | Lower the speed to 20% with slider on the bottom. |
 
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| Step 13 | Switch from „Local“ mode to „Remote“ mode --> now the system is ready to be controlled over ethernet. |
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| When turning it off... | ||
| Step 14 | When you are done, switch back to „Local“ and navigate to „Move“ and press „Home“. |  |
| Step 15 | Keep pressing „Move robot to: New Position“ until it is in safe home position. |
 
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| Step 16 | Press the "Burger menu" and shut down the robot. |  |
| Step 17 | Unplug the robot from the power socket, put the teach pendant back to the controller box, release the breaks of the robot platform (as seen in Step 3) and put the robot back to the wall. Apply the brakes again. |