First Boot for CB7

The first boot is the initial sequence of actions you take with the robot after assembly. PolyScope X first boot takes about 10 minutes.

This initial sequence requires you to:

• Insert the USB drive into the USB port in the Control Box.

• Power on the robot.

• Install the robot image.

• Insert the serial number.

• Verify the installation.

• Initialize the robot arm.

• Test the mount and payload using Freedrive.

• Power down the robot.

Take the USB drive from the box and insert it into a USB port in the Control Box.

Powering on the robot turns on the Control Box and loads the display on the TP screen.

1. On the Teach Pendant, press the emergency stop button.

2. Press the power button on the Teach Pendant to power on the robot.

Use Install Robot to install a compatible robot image from the data partition of the USB drive.

Insert the USB drive into the Control Box, then start Robot Tools.

When you copy a robot image from your PC to the USB drive, you do not need to modify the image file.

Install Image Screen

1. On the main screen, select Install Robot.

2. Under Select an image to install on the robot, open the drop-down menu and select the image that you want to install.

3. Select Start Installation.

4. If prompted, confirm that you want to overwrite the robot disk.

5. Wait until the installation is complete. You cannot cancel the installation after it starts.

6. When the installation is complete, remove the USB drive.

7. Select Restart.

   Successful Installation Screen

Before the installation starts, select Cancel to return to the main screen without changing the robot disk.

If the robot disk is blank and the USB drive contains one compatible robot image, the installation screen can open automatically and display a countdown. Select Start Installation to start immediately, or select Cancel to stop the countdown and return to the main screen.

The USB drive with Robot Tools contains a file named autoinstall.

In this file, you can configure which image to install first during an automatic installation. This also works when the USB drive contains more than one image.

If you delete the autoinstall file, automatic installation does not work.

Automatic Robot Installation

For a comprehensive guide to using Robot Tools in PolyScope X, see Robot Tools.

1. Select your Control Box.

2. Insert the serial number as it is written on the robot arm.

3. Tap OK to end.

It can take a few minutes for the start screen to load.

Enter Serial Number

Mounting settings describe whether the robot is mounted vertically, horizontally, or at an angle. This allows the robot to determine the direction of gravity, enabling smooth and precise movement.

This screen also allows you to specify the orientation of the robot base in relation to the viewer, giving the robot an accurate appearance in the visualizations.

To change the mounting settings of the robot arm:

1. On the Teach Pendant, press the emergency stop button.

2. On the Teach Pendant, press the power button and allow the system to start and load PolyScope X.

3. On the screen, tap OK when the Robot Emergency Stop dialog appears.

4. Tap the Application icon in the Main Navigation on the left side of the Teach Pendant screen.

   Tap the Mounting icon.

   A screen appears with two fields on the left side:

   Rotation. The alignment with respect to the power cable.

   Tilt. The angle of the base in degrees: 0 being horizontal floor mounting, 90 being wall mounting, and 180 being ceiling mounting.

   The robot arm is seen in the center of the screen.

   Vertical mounting setting

5. You can use the following touch gestures to adjust the view of the robot arm. Only the current view is changed.

   • Press and rotate clockwise or counterclockwise.

     Function: Changes your viewing direction of the robot.

   • Pinch. Touch the screen with two fingers and bring them closer together.

     Function: Zooms the robot image out.

   • Spread. Touch the screen with two fingers and move them apart.

     Function: Zooms the robot image in.

6. Tap the Rotation field, enter your value in degrees, and Confirm.

7. Tap the Tilt field, enter your value in degrees, and Confirm. The current view is updated to show the corresponding change in the robot arm configuration.

   Tilted mounting setting

8. Tap the back arrow to return to the previous screen.

Starting the robot arm disengages the braking system, allowing you to start moving the robot arm and to start using PolyScope X. Before powering on the robot arm, you need to verify that the correct active payload is configured.

1. Check the Robot State in the footer of the screen.

   If the state is Emergency Stopped, hold and twist the emergency stop button to reset. The arm will then be in Off state.

2. Step outside the reach (workspace) of the robot arm.

3. Tap the on-screen Power button.

4. In the Initialize box, tap Power On. On a new robot or the first boot after the software update, an Updating Firmware dialog may appear. When the arm firmware update is complete, the robot state will change to Locked.

5. In the Active Payload field, verify the payload mass.

6. Tap the Active Payload field, and an Edit field appears in the main screen.

7. Enter your active payload and tap Confirm.

You can now Unlock the brakes and start moving the robot arm.

Starting the robot arm disengages the braking system, allowing you to start moving the robot arm and to start using PolyScope X.

1. On the left side of the footer, tap the power or Robot State icon.

2. If the robot arm state is Off, tap Power On in the Initialize box. The robot arm state will change to Booting and Locked.

3. Tap Unlock to release the brakes.

   Robot arm initialization is accompanied by sound and slight movements as the joint brakes are released.

4. The robot arm state is now Active, and you can start to use the interface.

5. You can tap Power Off to turn off the robot arm or check Freedrive to verify robot arm mounting.

Freedriving the robot lets you quickly check whether the robot is functioning normally and whether mounting settings and payload are correctly specified.

For a detailed description, see the Freedrive section.

1. Set Active Payload to zero if there are no tools attached to the robot arm.
   Alternatively, set the Active Payload, TCP (tool center point) and CoG (center of gravity) according to tool specifications.
   See Payload and Center of Gravity for details.

2. To move the robot arm in Freedrive, quickly light-press, release, then light-press again and hold the 3PE button in that position.

   Now you can pull the robot arm into a desired position, while the light-press is maintained.

   Light press	Release

3. Pull or push the robot arm to a horizontally elongated position and release. See figure below.

   Elongated horizontal position of UR robot

4. Verify the robot arm can maintain this position without support while activating Freedrive.

1. On the left side of the footer, tap the Robot State icon to turn off the robot arm.

   The icon color changes from green to white.

2. Press the power button on the Teach Pendant to turn off the Control Box.

3. If a Shutdown dialog box appears, tap Power Off.

You can now:

• Unplug the mains cable/power cord from the wall socket.

• Wait 30 seconds for the robot to discharge any stored energy.