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Universal Robots UR e Series Manual
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Size
3
Size
4
e-Series
28
Service
Manual
Copyright
©
2009–2024
by
UniversalRobotsA/S.
All
rights
reserved.
31
33
Table of Contents
Default Chapter
2
Table of Contents
2
1 Introduction
5
About this Document
5
Company Details
5
Copyright and Disclaimers
5
Safety Message Types
6
2 Handling ESD-Sensitive Parts
8
3 Recommended Inspection Activities
13
Robot Arm
13
Inspection Plan
13
Visual Inspection: Robot Arm
13
Functional Inspection
14
Cleaning Your Robot
15
Control Box and Teach pendant
15
Inspection Plan
15
Functional and Safety Inspection
16
Visual Inspection: Control Box
19
Cleaning
21
4 Service and Replacement of Parts
22
Pre-Use Assessment
22
Recommended Tools
22
Robot Arm
24
Movement Without Drive Power
25
General Guidance to Separate Joint from Counterpart
25
Joint Connection Types
27
Torque Values
27
Power and Communication Connector Types on the Joint
28
Connector Location on Joints
31
Screw Connection
35
Clamp Connection
39
Tool Flange
42
Joint Verification
43
Zeroing of Joints
45
Dual Robot Calibration
48
Program Correction by Key Waypoints
49
Important Notice about Size 3 Joint on Ur10E
49
Robot Cable
49
Replacing Robot Cable
49
Control Box
51
Dismantling the Control Box
51
Dismantling the OEM AC and DC Control Box
55
Torque Values
61
Replacing the Teach Pendant: Standard TP
64
Replacing the Teach Pendant: 3PE TP
66
Replacement of Teach pendant Cable
68
5 Software
73
Long Term Support
73
Software Updates
73
Update Procedure
74
Update Timeline
77
Downgrading Vs. Restoring System Backup
77
Using Support File
78
Using Magic Files
79
Using Magic Files
80
Backup of Data
80
Hardware Requirements
80
Software Requirements
81
How to Access Linux Partition from Windows
81
Copy the Data from SD Card
81
6 Troubleshooting
83
Adding External Equipment for Troubleshooting Purpose
83
Log Viewer
83
Generel Purpose
83
Log Viewer Requirements
84
Installation Log Viewer
84
How to Use the UR Log Viewer
85
Loading the Data
85
Log Reader Tab
87
Flight Records
88
Log Start
90
Log Analysis Tab
92
Record Data Tab
93
Export from Robot Tab
94
Types of Messages
95
Support Log Reader (SLR)
95
LED Indicators and Fuse on Safety Control Board
97
LED Indicators on Safety Control Board
97
Fuse
97
Complete Rebooting Sequence
99
Protective Stop
101
7 Electrical Drawings
103
8 Spare Parts
104
9 Packing and Shipping of Robot/Spare Parts
105
Transport Without Packaging
106
10 Change Log
108
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Installation Guide
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Universal Robots UR e Series Specifications
General
Brand
Universal Robots
Model
UR e Series
Category
Robotics
Language
English
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