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4. Service and Replacement of Parts

4.0.1 Pre-Use Assessment

Verify all safety inputs and outputs are correctly connected. Test all connected safety inputs and

outputs, including devices common to multiple machines or robots, are functioning. The following

tests must be conducted before using the robot for the first time or after any modifications are made:

• Test the emergency stop buttons. Check the robot is stopped and the brakes are engaged.

• Test the safeguard input stops the robot’s motion. If a safeguard reset is configured, check

that it must be activated before motion can resume.

• Test safety boundaries to ensure that Reduced Mode can switch the safety mode and back.

• Test the Operational Mode switches (if connected), see icon in top right corner of user

interface to ensure the mode is changing.

• Test the Three-Position Enabling Device (if connected) to enable motion in manual mode and

test that the robot is under reduced speed control.

• Test that the System Emergency Stop Outputs can bring the entire system to a safe state.

• Test that the system connected to Robot Moving Output, Robot Not Stopping Output,

Reduced Mode Output, or Not Reduced Mode Output can detect the output changes.

Read Section 9. Packing and Shipping of Robot/Spare Parts to learn how to pack down and ship

the robot and/or spare parts.

Universal Robots CB Series Service Manual

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