Universal Robots UR16e Service Manual

All rights reserved 3 Service Manual e-Series (EN) 1.1.8
Contents
1. General Information ............................................................................................................................. 7
1.1 Purpose ...................................................................................................................................... 7
1.2 Company Details ....................................................................................................................... 8
1.3 Disclaimer .................................................................................................................................. 8
1.4 Safety message types .............................................................................................................. 9
2. Handling ESD-Sensitive Parts............................................................................................................ 10
3. Recommended Inspection activities ................................................................................................ 15
3.1 Robot Arm .............................................................................................................................. 15
3.1.1 Inspection Plan ............................................................................................................... 15
3.1.2 Visual Inspection ............................................................................................................ 16
3.1.3 Functional Inspection ..................................................................................................... 16
3.1.4 Cleaning ........................................................................................................................... 16
3.2 Control Box and Teach Pendant ........................................................................................... 17
3.2.1 Inspection Plan ............................................................................................................... 17
3.2.2 Functional and safety inspection .................................................................................. 18
3.2.3 Visual Inspection ............................................................................................................ 22
3.2.4 Cleaning .......................................................................................................................... 22
4. Service and Replacement of Parts .................................................................................................... 23
4.0.1 Pre-Use Assessment ...................................................................................................... 23
4.0.2 Recommended Tools ..................................................................................................... 24
4.1 Robot Arm .............................................................................................................................. 25
4.1.1 Movement Without Drive Power .................................................................................... 26
4.1.2 General Guidance to Separate Joint from Counterpart ............................................... 27
4.1.3 Joint Connection Types .................................................................................................. 29
4.1.4 Torque values .................................................................................................................. 29
4.1.5 Power and Communication Connector Types on the Joint ......................................... 30
4.1.6 Connector Location on joints ......................................................................................... 31
4.1.7 Screw Connection ........................................................................................................... 34
4.1.8 Bracket Connection ........................................................................................................ 39
4.1.9 Tool Flange ...................................................................................................................... 44
4.1.10 Joint Verification ........................................................................................................... 45
4.1.11 Zeroing of joints ............................................................................................................ 47
4.1.12 Dual Robot Calibration.................................................................................................. 53
4.1.13 Program Correction by Key Waypoints ....................................................................... 53

Universal Robots UR16e Specifications

General

Brand	Universal Robots
Model	UR16e
Category	Robotics
Language	English