4.Service and Replacement of Parts
4.1. Pre-Use Assessment
The tests and verifications, listed below, must all be conducted before using the robot for the first
time or after any modifications are made.
•
Verify all safety inputs and outputs are correctly connected.
•
Test all connected safety inputs and outputs, including devices common to multiple
machines or robots, are functioning.
•
Test that emergency stop buttons and input stop the robot and engage brakes.
•
Test that safeguard input stop the robot motion. If safeguard reset is configured, check that
it needs to be activated before motion can be resumed.
•
Examine the initialization screen to test that reduced mode can switch the safety mode to
reduced mode.
•
Test that the operational mode switches the operational mode, see icon in top right corner of
user interface.
•
Test that the 3-position enabling device must be pressed to enable motion in manual mode
and that the robot is under reduced speed control.
•
Test that System Emergency Stop outputs are actually capable of bringing the whole system
to a safe state.
•
Test that the system connected to Robot Moving output, Robot Not Stopping output,
Reduced Mode output, or Not Reduced Mode output can actually detect the output changes
Read Section 9 to learn how to pack down and ship the robot and/or spare parts. Packing and Ship-
ping of Robot/Spare Parts
UR20 12 Service Manual
4.Service and Replacement of Parts
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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