Contents
1.Introduction 1
1.1. About This Document 1
1.2. Company Details 1
1.3. Copyright and disclaimers 1
1.4. Safety Message Types 2
2.Handling ESD-Sensitive Parts 4
3.Recommended Inspection Activities 9
3.1. Robot Arm 9
3.1.1. Inspection Plan 9
3.1.2. Visual Inspection: Robot arm 9
3.1.3. Functional Inspection 10
3.1.4. Cleaning Your Robot 11
3.2. Control Box and Teach Pendant 11
3.2.1. Inspection Plan 11
3.2.2. Functional and Safety Inspection 12
3.2.3. Visual Inspection: Control Box 15
3.2.4. Cleaning 17
4.Service and Replacement of Parts 18
4.1. Pre-Use Assessment 18
4.1.1. Recommended Tools 18
4.2. Robot Arm 20
4.2.1. Movement Without Drive Power 21
4.2.2. General Guidance to Separate Joint from Counterpart 21
4.2.3. Joint Connection Types 23
4.2.4. Torque Values 23
4.2.5. Power and Communication Connector Types on the Joint 24
4.2.6. Connector Location on joints 27
4.2.7. Screw Connection 31
4.2.8. Clamp Connection 35
4.2.9. Tool Flange 38
4.2.10. Joint Verification 39
4.2.11. Zeroing of Joints 41
4.2.12. Dual Robot Calibration 44
4.2.13. Program Correction by Key Waypoints 45
4.2.14. Important Notice about Size 3 Joint on UR10e 45
4.3. Robot Cable 45
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