Universal Robots UR10 Service Manual page 3

3.2.1 Handling ESD-sensitive parts ............................................................................................. 44
3.2.2 Replacement of motherboard 3.0 ..................................................................................... 48
3.2.3 Replacement of motherboard 3.1 ..................................................................................... 51
3.2.4 Replacement of Safety Control Board ............................................................................... 54
3.2.5 Replacement of teach pendant.......................................................................................... 57
3.2.6 Replacement of 48V power supply .................................................................................... 59
3.2.7 Replacement of 12V power supply .................................................................................... 62
3.2.8 Replacement of current distributor ................................................................................... 63
4. Software ...................................................................................................................................................... 64
4.1 Update software .............................................................................................................................. 64
4.2 Update joint firmware ..................................................................................................................... 66
4.3 Using Magic files .............................................................................................................................. 69
5. Troubleshooting .......................................................................................................................................... 70
5.1 Error codes ...................................................................................................................................... 70
5.2 LED indicators and Fuses on Safety Control Board ......................................................................... 92
5.3 Error phenomena ............................................................................................................................ 94
5.3.1 ControlBox: NO CONTROLLER displayed in Initializing ...................................................... 94
5.3.2 NO CABLE displayed during power up ............................................................................... 95
5.3.3 Protective stop ................................................................................................................... 96
5.3.4 Power on failure in Initializing ........................................................................................... 97
5.3.5 Checklist after a collision ................................................................................................. 100
5.4 Electrical documentation .............................................................................................................. 101
5.4.1 Schematic overview ......................................................................................................... 101
5.4.2 E-Plan diagrams ................................................................................................................ 107
6. Spare parts ................................................................................................................................................ 120
6.1 Spare part list ................................................................................................................................ 120
6.2 Service kit ...................................................................................................................................... 121
7. Packing of robot ......................................................................................................................................... 122
8. Change log ................................................................................................................................................. 123
All rights reserved 3 Servicemanual_UR10_en_3.1.3