Checklist After A Collision - Universal Robots UR10 Service Manual

5.3.5 Checklist after a collision

Checklist after a collision
Check log history for error messages and consult
the section Error Codes for detailed explanation
Stop robot program and eventually press the
Emergency button prior to entering the work cell
Visually inspect robot arm.
Are any parts visually damaged, like damages on
one of the blue lids?
Press free drive button on back of TP and check
the free drive function of all joints > any abnormal
friction or behavior observed?
Press free drive button on back of TP and check
the free drive function of all joints > any excessive
noise observed?
Start the robot program in reduced speed and
verify robot is running as intended
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NO
NO
NO
NO
YES
YES
YES
100
Remove lid and inspect
parts inside of joint
Inspect joint with abnormal
behavior
Inspect joint with abnormal
noise. If click noises appear,
check brake pin
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