All rights reserved 6 Servicemanual_UR10_en_3.1.3
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 on robot again
Test Free drive mode:
o Unmount attachment or set TCP/Payload/CoG according to tool specifications
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:
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, state will change to Idle.
o Press and hold Freedrive -> status will change to BACKDRIVE
o Move the robot as done in Freedrive, brakes will be released on the joints where it’s
needed but only as long as the Freedrive button is activated. Robot will be “heavy” to move
around.
o Be sure to test this so that all joints have been tested.
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