4.2.13. Program Correction by Key Waypoints
Program Correction by Key Waypoints helps adjusting programs waypoints when a program is
moved from an uncalibrated robot to another. The technique can also be used to make programs
work after replacements of joints.
Please refer to the Calibration Manual from the Universal Robots Support site www.universal-
robots.com/support/ for detailed description on how to use this feature.
NOTICE
Program Correction by Key Waypoints does not currently support the following:
- Other types of waypoints with the exception fixed waypoints.
- Move node with Use Joint Angles selected.
The unsupported program nodes above may need to be corrected manually after
the Program Correction by Key Waypoints process is complete.
4.2.14. Important Notice about Size 3 Joint on UR10e
Using size 3 joints manufactured before November 12, 2020, as a replacement for any UR10e size
3 elbow joint (either UR10e with 12,5kg max. payload or UR10e with 10kg max. payload) may
damage the housing.
If you hold any spare part joint size 3 in inventory from before 12 November 2020, use it only for
replacements of UR5e robots’ joints.
Under no circumstances use joints from robots before 12 November 2020 as replacements for
UR10e size 3 elbow joint.
Size 3 joints from serial number: 20205001663, date: 12 November 2020, must only be used as
spare parts for UR5e robots.
4.3. Robot Cable
4.3.1. Replacing Robot Cable
CAUTION
The maximum robot connection from the robot arm to the Control Box is 12 m.
Improper robot connection can result in loss of power to the robot arm.
•
Do not extend beyond 12 m.
•
Do not make the connection from robot to control box shorter than 6 m.
Service Manual 45 e-Series
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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