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Universal Robots UR20 User Manual
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Manual
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Size
Thread
Head
Size
Torque
Joints
2.5
M5
Hex
key
4
5.5
Nm
Wrist
1
Wrist
2
Wrist
3
Tool
Flange
Clamp
Size
4
Size
Thread
Hea
d
Size
Torque
Joints
4
M6
Hex
key
5
7.5
Nm
Elbow
Joint
Clamp
Size
5
Size
Thread
Head
Size
Torque
Joints
UR20
16
Service
Manual
Copyright
©
2009–2023
by
UniversalRobotsA/S.
All
rights
reserved.
18
20
Table of Contents
Table of Contents
2
Introduction
4
About this Document
4
Company Details
4
Copyright and Disclaimers
4
Safety Message Types
5
Handling ESD-Sensitive Parts
7
Recommended Inspection Activities
9
Robot Arm
9
Inspection Plan
9
Visual Inspection: Robot Arm
9
Functional Inspection
11
Cleaning Your Robot
11
Control Box and Teach pendant
11
Inspection Plan
11
Functional and Safety Inspection
12
Visual Inspection: Control Box
14
Cleaning
14
Service and Replacement of Parts
15
Pre-Use Assessment
15
Recommended Tools
16
Robot Arm
17
Connection Torque Values
18
Clamp Connection
20
Tool Flange
24
Replacement of Trim Plates
26
Joint Verification
27
Dual Robot Calibration
27
Program Correction by Key Waypoints
28
Control Box
28
Dismantling the Control Box
28
Torque Values
29
Replacing the 3PE Teach pendant
30
Software
32
Software Updates
32
Update Procedure
32
Using Support File
33
Using Magic Files
33
Backup of Data
34
Hardware Requirements
35
Software Requirements
35
Accessing Linux Partition from Windows
35
Copying the Data from SD Card
35
Troubleshooting
37
Adding External Equipment for Troubleshooting Purpose
37
UR Log Viewer
37
LED Indicators and Fuse on Safety Control Board
37
LED Indicators on Safety Control Board
37
Fuse
38
Complete Rebooting Sequence
38
Robot Stop
39
Ignoring Robot Stops
40
Electrical Drawings
42
Packing and Shipping of Robot/Spare Parts
43
Change Log
47
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Universal Robots UR20 Specifications
General
Brand
Universal Robots
Model
UR20
Category
Robotics
Language
English
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