Universal Robots UR20 User Manual

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 6
3.1. Robot Arm 6
3.1.1. Inspection Plan 6
3.1.2. Visual Inspection: Robot arm 6
3.1.3. Functional Inspection 8
3.1.4. Cleaning your robot 8
3.2. Control Box and Teach Pendant 8
3.2.1. Inspection Plan 8
3.2.2. Functional and Safety Inspection 9
3.2.3. Visual Inspection: Control Box 11
3.2.4. Cleaning 11
4.Service and Replacement of Parts 12
4.1. Pre-Use Assessment 12
4.1.1. Recommended Tools 13
4.2. Robot Arm 14
4.2.1. Connection Torque Values 15
4.2.2. Clamp Connection 17
4.2.3. Tool Flange 21
4.2.4. Replacement of Trim Plates 23
4.2.5. Joint Verification 24
4.2.6. Dual Robot Calibration 24
4.2.7. Program Correction by Key Waypoints 25
4.3. Control Box 25
4.3.1. Dismantling the Control Box 25
4.3.2. Torque Values 26
4.3.3. Replacing the 3PE Teach Pendant 27
5.Software 29
Service Manual UR20
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.

Universal Robots UR20 Specifications

General

Brand	Universal Robots
Model	UR20
Category	Robotics
Language	English