Professional Documents
Culture Documents
Revision UR10_en_2.0.5
"Original instructions"
------------------------------------
Robot:
UR10 with CB2-controller
1.1 Purpose
The main purpose of this manual is to help the user safely perform service related operations and
troubleshooting.
Universal Robots industrial robots are designed using high quality components designed for long lifetime.
However any improper use of robot can potentially cause failures on the robot. For example, the robot may
have been overloaded on an overrun or it may have been dropped on the floor when relocating or have run
with a load not recommended by Universal Robots. Any improper use of the robot will invalidate the guarantee.
Universal Robots recommends that you do not attempt repair, adjustment or other intervention in the
mechanical or electrical systems of the robot unless a problem has arisen. Any unauthorized intervention will
invalidate the guarantee. Service related operations and troubleshooting should only be performed by qualified
personnel
Before performing service related operations, always make sure to stop the robot program and disconnect
supply to any potential dangerous tool attached on the robot arm and in the work cell.
In the event of a defect, Universal Robots recommends ordering new parts from the Universal
Robot distributor from where the robot has been purchased.
Alternatively, you can order parts from your nearest distributor, whose details you can obtain from Universal
Robots official website at www.universal-robots.com
1.3 Disclaimer
The information contained herein is the property of Universal Robots A/S and shall not be reproduced in whole
or in part without prior written approval of Universal Robots A/S. The information herein is subject to change
without notice and should not be construed as a commitment by Universal Robots A/S. This
Manual is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
2.1 Controller
At least once in a year, the correct functioning of all safety functions should be tested.
o Gently remove the outer plastic frame and maintain the filter
If any damages are observed on a robot within the warranty period, contact the distributor from where the
robot has been purchased.
Remove all external non-UR equipment such as grippers, hoses, cables and so on.
Universal Robots cannot be held responsible for damage caused to non-UR equipment mounted on the
robot.
Backup all relevant files before sending the robot/part to UR. Universal Robots cannot be held
responsible for loss of programs, data or files stored in the robot.
Safety notice:
If the robot/part has been in contact with, or working in environments, where dangerous chemicals or
materials are present, the robot must be cleaned before shipment.
If this is not possible, the shipment must be accompanied by an MSDA (Material Safety Data Sheet) in
English and instructions for cleaning the chemicals.
The amount of labor hours needed for cleaning will be billed at the standard rate.
If UR finds the robot/part unsafe to service, UR reserve the right to get the robot/part cleaned or
decline the case and send the part back, at customers expense.
J5
Tool flange Wrist 3
J3
Wrist 1
J4
Wrist 2
Lower arm
J2 Elbow
Elbow counterpart
Upper arm
J0
Base
J1
Shoulder
Baseplate
IMPORTANT NOTICE:
Before releasing a brake it is extremely important to dismount any dangerous tooling for avoiding any
hazardous situations.
If releasing the brake on Base joint, Shoulder joint or Elbow joint, it is important to make proper
mechanical support prior to releasing the brake.
Always make sure no personnel are located under the arm when releasing the brake.
Do not move the joint more than necessary, absolute max. is 180 degrees in order for the robot to find
its original physical position.
Push pin brake down for releasing, joint can then be rotated.
Make sure to mount blue lid properly on joint before turning on Controller.
PLEASE READ AND UNDERSTAND THE COMPLETE CHAPTER BEFORE REPLACING THE JOINT
Universal Robots A/S assumes no responsibility for incorrect use of this procedure.
122092 Teach Pendant incl. Touch Screen & power cable UR5 & UR10
Important
Polyscope software must be minimum 1.8.23117
Do not attempt to load sparePart revision firmware on a CB2 joint. This will result in the joint no
longer working and need to be re-coded by Universal Robots in Denmark.
Only the CB3 sparePart parts listed on previous page can be used
Press the About button on the main Polyscope page and a popup will show the software version.
Information on how to update the Polyscope software can be found in the chapter 4.
It is very important to select the correct revision for each joint but also, if not more important, correct revision
for CB2 joints and CB3 sparePart.
CB2 has green coloured PCB CB3 sparePart has blue coloured PCB
On the previous pages its shown how to find the hardware revision.
1. Navigate to the Low Level Control section in Expert mode see below how.
Drag the finger or pointer across the logo from left to right
lightbot
Do not attempt to load sparePart revision firmware on a CB2 joint. This will result in the joint no longer
working and need to be re-coded by Universal Robots in Denmark.
8. The process of updating the firmware will now begin. See next steps.
10. Verify that the firmware has been updated successfully. This can be seen in the status field,
then press Back and Return to Normal
11. Verify that the robot is moving as expected. If not, check that the correct firmware has been selected.
There are used 3 different adaptor cables when mounting a CB3 joint onto a CB2 robot arm.
Communications cable CB2 to CB3 power cable CB3 to CB2 power cable
Communication cable
An extension cable is needed on the communication side. This is only an extension and should be used on Size 1
and 4 joints only.
Its important that the cable connections are colour correct.
White <-> White
Brown <-> Black
When plugging in the connectors onto the printed circuit boards its recommended to mount the plug with the
tap facing out from the house. The two plugs are recommended to swap places. This is so the pins on the print
board are not getting bend.
Photo below shows recommended and not recommended.
An adaptor plug is needed for the 48V power. There are two versions.
CB2 to CB3 looks like below CB3 to CB2 looks like below
Important when replacing a size 1 joint: The connectors need to lay flat, on the connectors lowest side,
when mounting the blue lid. If not, it can cause issues when mounting the lid but also effect the sensor in
the size 1 joint as the plug is pushing onto the setup.
3.1.4 Replacement of base mounting bracket
Move robot to a comfortable position for replacing the base. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the
joint housing.
Pull the base mounting bracket and Base joint apart and gently twist the two parts in opposite
directions around 10 mm. until a mechanical stop is met (holes are keyhole-type).
Gently insert base mounting bracket with screws and washers into the Base joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the base mounting bracket and Base joint in opposite directions until a mechanical
stop is met.
Tighten the 10 screws lightly, then tighten in cross order with 8.0Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
For separating base mounting bracket from Base joint, consult chapter 3.1.3 Replacement of base
mounting bracket.
Pull the Base joint and Shoulder joint apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
Replace Base joint and gently insert Base joint with screws and washers into the Shoulder joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Base joint and Shoulder joint in opposite directions until a mechanical stop is
met.
Tighten the 10 screws lightly, then tighten in cross order with 8.0Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
For separating Base joint from Shoulder joint, consult chapter 3.1.4 Replacement of Base joint.
Gently remove black flexible gasket between Shoulder and upper arm with a tiny screwdriver or
similar tool and twist it around the upper arm.
Pull the Shoulder joint and upper arm apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
Replace Shoulder joint and gently insert Shoulder joint with screws and washers into the upper
arm.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Shoulder joint and upper arm in opposite directions until a mechanical stop is
met.
Tighten the 10 screws lightly, then tighten in cross order with 8.0Nm.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
Procedure for separating upper arm from Elbow joint is similar to separation of upper arm and
Shoulder joint, consult chapter 3.1.5 Replacement of Shoulder joint.
Pull Elbow joint and elbow counterpart apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
Replace Elbow joint and gently insert Elbow joint with screws and washers into the elbow
counterpart.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Elbow joint and elbow counterpart in opposite directions until a mechanical
stop is met.
Tighten the 10 screws lightly, then tighten in cross order with respectively 3.0Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
Gently remove black flexible gasket between lower arm and Wrist 1 joint with a tiny screwdriver or
similar tool and twist it around the lower arm.
Pull the lower arm and Wrist 1 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
Lower arm and Wrist 1 joint has now been separated, proceed for separating Wrist 1 from Wrist 2.
Pull Wrist 1 joint and Wrist 2 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
Wrist 1 joint and Wrist 2 joint has now been separated, proceed for assembling new Wrist 1 joint
with Wrist 2 joint.
Replace Wrist 1 and gently insert Wrist 1 joint with screws and washers into Wrist 2 joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting Wrist 1 joint and Wrist 2 joint in opposite directions until a mechanical stop is met.
Tighten the 10 screws lightly, then tighten in cross order with 1.3Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Replace Wrist 1 and reconnect connectors as illustrated into Wrist 2 - remember to twist the
communications wires:
Gently insert Wrist 1 joint with screws and washers into the lower arm.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting Wrist 1 joint and lower arm in opposite directions until a mechanical stop is met.
Tighten the 10 screws lightly, then tighten in cross order with 1.3Nm.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
Pull Wrist 1 joint and Wrist 2 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
Wrist 1 joint and Wrist 2 joint has now been separated. Perform same procedure for separating
Wrist 2 joint and Wrist 3 joint and proceed when done.
Replace Wrist 2 and gently insert Wrist 1 joint with screws and washers into Wrist 2 joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Wrist 1 joint and Wrist 2 joint in opposite directions until a mechanical stop is
met.
Tighten the 10 screws lightly, then tighten in cross order with 1.3Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Reconnect connectors as illustrated into Wrist 2 - remember to twist the communications wires:
Wrist 1 joint and Wrist 2 joint has now been assembled. Perform same procedure for assembling
Wrist 2 joint and Wrist 3 joint.
Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.
Pull Wrist 2 joint and Wrist 3 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
For separating Wrist 3 joint from tool flange, consult chapter 3.1.9 Replacement of tool flange.
Replace Wrist 3 and gently insert Wrist 2 joint with screws and washers into Wrist 3 joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Wrist 2 joint and Wrist 3 joint in opposite directions until a mechanical stop is
met.
Tighten the 10 screws lightly, then tighten in cross order with 1.3Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
Reconnect connectors as illustrated into Wrist 3 - remember to twist the communications wires:
For assembling Wrist 3 joint and tool flange, consult chapter 3.1.9 Replacement of tool flange.
Move robot to a comfortable position for replacing the tool flange. If necessary dismount entire
robot arm from work cell and place arm on solid surface.
Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the
joint housing.
Pull the tool flange and Wrist 3 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
Insert carefully O-ring into the Tool Plate and place cover on top
Gently insert tool flange with screws and washers into the Wrist 3 joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the tool flange and Wrist 3 joint in opposite directions until a mechanical stop is
met.
Tighten the 10 screws lightly, then tighten in cross order with 1.3Nm.
Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
1.3N
m
1.3N
m
1.3N
m
1.3N
m
3.0N
m
3.0N 3.0N
m m
8.0Nm 8.0Nm
8.0
Nm
All rights reserved 52 Servicemanual_UR10_en_2.0.5
3.1.13 Joint calibration
After replacement of joint it is required to calibrate the new joint in order to find the correct zero position
of joint.
Illustration shows the HOME position, which is defined as zero position of all joints.
Drag a finger from left to right across the UNIVERSAL-sign on main screen of PolyScope.
lightbot
Select Power On/Off tab and press Turn power on for enabling power to motors.
Press Arm current joint for releasing the brake on the selected joint.
Select Move tab and press either Up or Down for the joint to find its index mark.
For every time the button is pressed, the velocity of joint will be increased.
Use the Up and Down buttons for navigating the joint to the correct zero position according to the
following illustrations.
Press STOP when the joint is in the correct position.
Base zero position is aligned to Shoulder, Elbow and Wrist 1 zero positions are
connector in back of robot base. Vertical aligned (if Base if horizontal).
Make sure that base of robot is positioned
horizontal, use leveler for aligning joints.
Wrist 2: Wrist 3:
Wrist 2 zero position is aligned similar Wrist 3 zero position is aligned so tool connector
to Base joint. is pointing upward.
Mount two bolts in tool holes and use leveler for
aligning joint.
Each joint has a unique ID no. It is NOT possible to have two joints with the same ID no. on the same robot.
ID Joint
J0 Base
J1 Shoulder
J2 Elbow
J3 Wrist 1
J4 Wrist 2
J5 Wrist 3
Example:
After you have turned power on you can see the joint J5 has changed to J3.
The UR5 and UR10 are constructed of 4 joint sizes and have to be setup on the robot:
Recommended spare joints for UR5 and UR10 are marked with:
Alignment screw
Base: Communication
cable with double isolation
NB! To use UR5 base as UR5 Elbow it is necessary to change ID and then connect the joints electrically then
turn the joint 180 degree in low level control, before mechanical assemble joint.
To prevent damage to ESD-sensitive parts, follow the instructions below in addition to all the usual
precautions, such as turning off power before removing logic cards:
Keep the ESD-sensitive part in its original shipping container (a special "ESD bag") until the part is
ready to be installed.
Make the least-possible body movements to prevent an increase of static electricity from clothing
fibers, carpets, and furniture.
Put the ESD wrist strap on your wrist. Connect the wrist band to the system ground point .
This discharges any static electricity in your body to ground.
Hold the ESD-sensitive part by its edges; do not touch its pins. If a pluggable module is being removed,
then use the correct tool.
Do not place the ESD-sensitive part on insulating or on a metal table; if the ESD-sensitive part needs to be put
down for any reason, then first put it into its special bag.
Machine covers and metal tables are electrical grounds. They increase the risk of damage
because they make a discharge path from your body through the ESD-sensitive part. (Large metal
objects can be discharge paths without being grounded.)
Prevent ESD-sensitive parts from being accidentally touched by other personnel and do not put
unprotected ESD-sensitive parts on a table.
Be extra careful in working with ESD-sensitive parts when cold-weather heating is used,
because low humidity increases static electricity
Shut down the controller and disconnect the power cable, open the controller cabinet and loosen
the 5 Torx screws and remove the alu cover plate.
Remove black USB plug from motherboard and push the alu cover to the right and pull out alu
cover for removal.
Remove the bracket (foot of the controller box) that holds the cable inlet and pull out the cables
and plugs through this hole.
Replace teach pendant with new, insert cable in cable inlet and perform reconnection of all plugs
and mounting of alu cover in reversed order of the above description.
Connect power and verify that teach pendant works properly.
Note: use the same procedure for power down and removing the alu cover plate as in chapter 3.2.2
Replacement of Teach pendant
Carefully remove all plugs and connectors (it is recommended to mark the cable positions or take a
picture of them).
Replace Masterboard with new and tighten the 15 screws to hold the board
Carefully put back the grey alu cover plate, make sure to mount it correct and fix it with the 5
screws.
Note: use the same procedure for power down and removing the alu cover plate as in chapter 3.2.2
Replacement of Teach pendant
Remove Flash card and RAM block.
If controller is equipped with long-hole brackets, make sure to replace them with circular-hole
brackets. Tighten the 4 screws gently.
Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the
5 screws.
Note: use the same procedure for power down and removing the alu cover plate and cables for teach
pendant as in chapter 3.2.2 Replacement of Teach pendant
Remove the handle on Controller box by loosen the 2 screws holding it.
Power supply is located in the rack under the controller module, the 48V power supply is the lower
one in the rack.
Before dismounting the 48V power supply, mark and disconnect the cables from that supply.
Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
Carefully put back the grey alu cover plate, make sure to mount it correct and fix it with the 5
screws.
Note: use the same procedure for power down and removing the alu cover plate and cables for teach
pendant as in chapter 3.2.2 Replacement of Teach pendant
For replacing the 12V power supply follow exactly the same steps as for the procedure in chapter 3.2.5
Replacement of 48V power supply
The 12V power supply is placed in top of rack. The screws holding it in the frame are placed on the
sides.
Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
Carefully put back the grey alu cover plate, make sure to mount it correct and fix it with the 5
screws.
Note: use the same procedure for power down and removing the alu cover plate and cables for teach
pendant as in chapter 3.2.2 Replacement of Teach pendant
For replacing the current distributor follow exactly the same steps as for the procedure in chapter 3.2.5
Replacement of 48V power supply
Before dismounting the current distributor, mark and disconnect the cables from the circuit board.
Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
Carefully put back the grey alu cover plate, make sure to mount it correct and fix it with the 5
screws.
When updating software on robot with older version, it is required to install each update in sequence, i.e. if
robot using software v1.5 must be updated to v1.7, it is required to first update to v1.6 and then update to
v1.7.
IMPORTANT NOTICE:
Software should only be updated after consulting Distributor from where the robot has been
purchased or if representing a Distributor after consulting Universal Robots.
Universal Robots do not recommend updating software without proper instruction in how to
update software.
When updating firmware it is strictly forbidden to turn off controller during update.
Universal Robots can be no means be held responsible for any failed update caused by improper
operation.
Please note: If representing an end customer, contact the Distributor from where the robot has been
purchased before updating the software.
Each joint on robot arm is provided with firmware for controlling the joint.
For normal operation firmware update is not required. Software can be updated on robot without updating
the firmware.
Special procedure is needed when replacing a CB2 joint with a CB3 special joint. Please see chapter 3.1.3
Replacing CB2 joint with CB3 special joint
IMPORTANT NOTICE:
Firmware should only be updated after consulting Distributor from where the robot has been
purchased or if representing a Distributor after consulting Universal Robots.
Universal Robots do not recommend updating firmware without proper instruction in how to
update firmware.
When updating firmware it is strictly forbidden to turn off controller or to remove cable between
controller and robot arm during update.
Universal Robots can be no means be held responsible for any failed update caused by improper
operation.
Drag a finger from left to right across the UNIVERSAL-sign on main screen of PolyScope.
lightbot
Select the Firmware tab, mark All joints and press UPDATE firmware.
Firmware update is being processed, await message that robot firmware updated successfully.
It is strictly forbidden to turn off controller during this update.
After successful update, press Back.
For easy backup, Universal Robots provides Magic files for automatic copy of data from controller to USB-
stick.
The Magic file creates a folder on USB-stick named after the serial number of robot.
If more than one magic file is on USB-stick, they will be run in sequence, the warnings will then appear for
each file. Do not remove the USB-stick before after the last file has been run. Multiple folders will be
created and named after serial number added with a sequential no, like 201220xxx4_0, 201220xxx4_1 etc.
C15 Master sniffed message Serial communication Check green 2-wire connectors
addressed to invalid node ID problem with joint and wires in joints
C43 Could not track target External blocking, encoder, Use Teach Mode for checking
position brake, gear, acceleration too manual jog with joint
high, payload too high Open blue lid on joint and check
brake pin, consult chapter 3.1.2
Reduce acceleration in user
program
Verify payload is correct
Replace joint if necessary
C44 CRC error, likely from joint Serial communication Check green 2-wire connectors
problem with joint and wires in joints
C46 Loose gearbox or bad Mechanical problem in gear Replace joint
encoder mounting related to encoder
mounting
C47 AD-Converter hit low limit EMC issue external or Check grounding and shielding
electronics internal for EMC problems
C71A2 Joint Startup check error Joint hardware is size 2 but Edit config file, contact
software is not distributor
C71A3 Joint Startup check error Joint hardware is size 3 but Edit config file, contact
software is not distributor
C71A4 Joint Startup check error Joint hardware is size 4 but Edit config file, contact
software is not distributor
C71A5 Joint Startup check error Wrong hardware size read Edit config file, contact
distributor
C100 Robot changed mode Status warning, general Check preceding errors in log
modus change history
C107 Joint has too many errors in a After 3 consecutive errors, Check preceding errors in log
row result of preceding errors history
Replace joint if necessary
C109 Security Stop Generated by controller Check preceding errors in log
safety system. history
Security limit exceeded
C110 Joint Security Stop Generated by controller Check preceding errors in log
safety system history
Security limit exceeded
C113 Force limit protective stop Robot movement blocked Use Teach Mode for checking
Collision or mechanical manual jog with joint
failure Open blue lid on joint and check
Acceleration too high in user brake pin, consult chapter 3.1.2
program Reduce acceleration in user
TCP and payload settings program
incorrect Verify payload is correct
C114 High Measured Force Warning prior to error code Use Teach Mode for checking
Warning 113: Force Limit Protective manual jog with joint
Stop Reduce acceleration in user
program
Verify payload is correct
C115 Wrong robot type Can be related to different Check settings in config file
causes: Replace 48V PSU, Masterboard,
a. Wrong setting in Current Distributor pcb or Teach
urcontrol.conf file pendant if necessary
b. Defective 48V PSU
c. Defective Masterboard
d. Defective Current
1. When you only have the power plug connected and the robot is not turned on the 12 V LED is
on.(On the Master board)
2. When you press the power on button on the TP the power up sequence starts
3. In this sequence The 48 V LED indicator and the "R" LED indicator is on in about 1 second (Master
board) it is for testing if the 48V power supply is working and to check if the robot arm is
connected.
If the 48V LED indicator is off all the time in the start up sequence you should measure the voltage.
1. Measure the 48V on the Master board where the 48V comes from the Current distributor. And check
this 1 second pulse.
1.1. Voltage on the Master board. It should be the master board that is defect
1.2. No voltage on the Master board 48V then measure the output 48V on the power supply.
1.3. No voltage on the 48 V Power supply output. Check the 230 V input to the 48V power supply. It is
either the Power supply that is defect or the 240 V.
1.4. Voltage on the Output of the 48V Power supply. Then measure on both sides of the current
distributor. It should be the Current distributor that is defect.
ControlBox = NO
CONTROLLER displayed at
INITIALIZING screen
NO
NO
YES
YES
YES
Replace motherboard
NO
NO
NO
NO
Press teach button on back of TP and check the Inspect joint with abnormal
YES
teach function of all joints > any abnormal friction behavior, joint might have
or behavior observed? mechanical failure
NO
If power turns off a few seconds after Robot Power is turned On in the Initializing window, there are many
possible causes for this phenomenon.
Most likely it is a control box failure or a communication failure with a joint or the tool.
NO
Measure that 12V DC is present in the red YES Replace current distributor
connector/flatcable on the current distributor
NO
Replace Masterboard
Go to tab POWER ON/OFF and press TURN Unmount tool and check
NO
POWER ON. Does state of tool switch from green comm. connector is
BROKEN COMM. ERROR to READY? fully inserted in pcb
YES
NO
Continue to
next page Replace tool
Go to tab POWER ON/OFF and press TURN Remove blue lid of joint and
NO
POWER ON. Does state of all joints J0-J5 switch check green comm.
from BROKEN COMM. ERROR to READY? connector is fully inserted
YES
NO
NO
Press teach button on back of TP and check the Inspect joint with abnormal
YES
teach function of all joints > any abnormal friction behavior
or behavior observed?
NO
Press teach button on back of TP and check the Inspect joint with abnormal
YES
teach function of all joints > any excessive noise noise. If click noises appear,
observed? check brake pin
NO
Tool connector
Pin 1 AI[2]
Pin 2 AI[3]
Pin 3 DI[0]
Pin 4 DI[1]
Pin 5 12V/24V DC
Pin 6 DO[0]
Pin 7 DO[1]
Pin 8 GND
Note: Supply current in both modes 12V and 24V is maximum 600 mA
Robot arm:
122059 Base Mounting Bracket UR10
122031 Joint Size 4 Base UR10
122043 Joint Size 4 Shoulder UR10
122034 Joint Size 3 Elbow UR10
122021 Joint Size 2 Wrist 1 UR10
122022 Joint Size 2 Wrist 2 UR10
122023 Joint Size 2 Wrist 3 UR10
122060 Tool Mounting Bracket UR10
103310 Sealing set UR10, external
103410 Lid set complete UR10 incl. Seal
Accessories:
173101 Cable for tool, angle: external
131095 Lid Tool protective cap Alu. For tool connector
139033 Bracket f. mounting Teach Pendant
132407 Bracket f. mounting Controller
131510 Bracket f. mounting robotarm UR10 (Item & Bosch profile)
Load program Put_into_box_ur10.urp and follow instructions while removing mounting bolts.
While robot folds together, hold a piece of bubble wrap between Shoulder joint and wrists.
Note: If robot cannot run or power is not available, it is possible to manually release the brakes for
each joint individually and pack the robot accordingly. For brake release, see chapter 3.1.2.
Power down, disconnect power and disconnect robot arm from controller.
8.1 Changelog