4.2.7. 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-robot-
s.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.
4.3. Control Box
4.3.1. Dismantling the Control Box
WARNING: ELECTRICITY
Failure to completely shut down the Control Box before replacing any components
can lead to serious injury due to electrical hazards.
•
Before replacing ANY components inside the Control Box, you MUST do a
complete shutdown.
•
Follow the first 3 steps in section Complete Rebooting Sequence
CAUTION
Failure to exercise caution when handling ESD sensitive parts can increase the risk
of injury. See section 2. Handling ESD-Sensitive Parts
•
Exercise caution when handling ESD sensitive parts
•
If possible, lay the Control Box on its back while working on it.
To Dismantle the Control Box:
The illustrations below can differ from actual hardware design.
1. Power off Control Box – follow step 1 to 3 in section Complete Rebooting Sequence
2. Remove all the I/O Terminals, the Fuse, SD-card and any other I/O etc. that may be
connected.
Service Manual 25 UR20
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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