Universal Robots UR5 Service Manual page 3

3.2.5 Replacement of 48V power supply ............................................................................................ 69
3.2.6 Replacement of 12V power supply ............................................................................................ 72
3.2.7 Replacement of current distributor ........................................................................................... 73
4. Software ........................................................................................................................................................ 75
4.1 Update software ...................................................................................................................................... 75
4.2 Update joint firmware ............................................................................................................................. 77
4.3 Using Magic files ...................................................................................................................................... 80
5. Troubleshooting ............................................................................................................................................ 81
5.1 Error codes .............................................................................................................................................. 81
5.2 Normal startup procedure on a CB2 UR5 ................................................................................................ 88
5.3 Error phenomena .................................................................................................................................... 89
5.3.1 ControlBox: NO CONTROLLER displayed in Initializing .............................................................. 89
5.3.2 NO CABLE displayed during power up ....................................................................................... 90
5.3.3 Force limit protective stop ......................................................................................................... 91
5.3.4 Power on failure in Initializing ................................................................................................... 92
5.3.5 Checklist after a collision ........................................................................................................... 95
5.4 Schematic drawing .................................................................................................................................. 96
5.4.1 Tool connector ........................................................................................................................... 97
6. Spare parts .................................................................................................................................................... 98
6.1 Spare part list .......................................................................................................................................... 98
6.2 Tool part list ............................................................................................................................................ 99
7. Packing of robot .......................................................................................................................................... 100
8. Changelog .................................................................................................................................................... 101
8.1 Changelog .............................................................................................................................................. 101
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