Universal Robots ur3 - Preventive Maintenance; 2.1 Controller

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2. Preventive Maintenance
2.1 Controller
2.1.1 Inspection plan, Safety Functions
The safety functions of the robots must be tested at least once a year to ensure correct function. The
following tests must be performed.
 Test that the Emergency Stop button on the Teach Pendant functions:
o Press the Emergency Stop button on the Teach Pendant
o Observe that the robot stops and turns off the power to the joints
o Power the robot again
 Test Free drive mode:
o Set the robot in Free drive mode by pressing the Free drive button on the Teach Pendant
o Move the robot to a position where it is stretched out horizontally
o Monitor that the robot maintains its position when not holding the robot and the Free
drive button still pressed.
 Test Back drive mode:
o If robot is close to collision, the BACKDRIVE function can be used to move robot arm to safe
position before initializing.
o Press ON to enable power for the joints - Do NOT release the brakes.
o Press and hold Freedrive -> status will change to BACKDRIVE
o Pull joint away from collision area -> brake is released for only this joint as long as freedrive
is pressed.
 Verify safety settings:
o Verify that the safety settings of the robot comply with the Risk Assessment of the robot
installation
 Test that additional safety inputs and outputs are still functioning:
o Check which safety inputs and outputs are active and test that they can be triggered.