Universal Robots UR5 Service Manual
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Universal Robots UR5 Service Manual

With cb3.0/3.1/3.2 controller
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Service Manual
"Original instructions"
Revision:
UR5_en_3.2.7
Robot:
UR5 with CB3.0/3.1/3.2 - controller
CB3.0 valid from robot s/n 2014350001 to 2016351863
CB3.1 valid from robot s/n 2016351864 to 2019351625
CB3.2 valid from robot s/n 2019351626
Valid from robot s/n: 2014350001

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Summary of Contents for Universal Robots UR5

  • Page 1 Service Manual "Original instructions" Revision: UR5_en_3.2.7 Robot: UR5 with CB3.0/3.1/3.2 - controller CB3.0 valid from robot s/n 2014350001 to 2016351863 CB3.1 valid from robot s/n 2016351864 to 2019351625 CB3.2 valid from robot s/n 2019351626 Valid from robot s/n: 2014350001...
  • Page 2 1. Service Manual The information contained herein is the property of Universal Robots A/S and shall not be reproduced in whole or in part without prior written approval of Universal Robots A/S. The information herein is subject to change without notice and should not be construed as a commitment by Universal Robots A/S.

  • Page 3: Table Of Contents

    5. Service and Replacement of parts 5.1. Handling ESD Sensitive Parts 5.1.1. Recommended Tools 5.2. Robot Arm 5.2.1. Before returning any part to Universal Robots 5.2.2. Robot Arm Configuration 5.2.3. Brake Release 5.2.4. General Guidance to Separate Joint from Counterpart 5.2.5. Torque Values 5.2.6.
  • Page 4 6.4.4. Copy the data from CF-card to UR-USB 7. Troubleshooting 7.1. Error codes 7.2. LED indicators and Fuses on Safety Control Board 7.2.1. Normal Startup Sequence for a CB3.x UR5 7.3. Error Phenomena 7.3.1. Control Box: NO CONTROLLER Displayed in Initializing 7.3.2. NO CABLE Displayed During Power Up 7.3.3.
  • Page 5 7.4. Electrical Drawing 7.4.1. Schematic Overview 7.4.2. E-Plan Diagrams 8. Spare Parts 8.1. Robot arm 8.2. Controller 8.3. Tools 9. Packing of Robot 10. Change Log User Manual...
  • Page 6 User Manual...

  • Page 7: General Information

    In the event of a defect, Universal Robots recommends ordering new parts from the Universal Robot distributor where the robot was purchased from.

  • Page 8: Service Manual

    3. General Information 3.4. Warning Symbols in this Manual DANGER, WARNING, CAUTION, NOTICE and SAFETY INSTRUCTION statements are used throughout this manual to emphasize important and critical information. You MUST read these statements to help ensure safety and to prevent product damage. The statements are defined below.

  • Page 9: Content

    4.1. Controller 4.1.1. Inspection Plan Set forth below is a check list of inspections that Universal Robots recommends be performed according to the marked time interval. If upon inspection, the referenced parts are not in an acceptable state, please rectify immediately.

  • Page 10: Safety Functions

    4. Recommended Inspection Activities Use the following sections as guide: 2.1.2 Safety Functional Monthly Bi-annually Annually 2.1.3 Visual Inspection 3.2 Control Box Check Emergency stop on Teach Pendant Check Backdrive mode Check Freedrive mode Check safety inputs and outputs (if connected) Check Teach Pendant cable Check and clean air filters on Control Box Check terminals in Control Box...

  • Page 11: Visual Inspection

    4. Recommended Inspection Activities • In BACKDRIVE mode brakes will only be released on individual joints when they are moved, and will remain released as long as the Freedrive button is pushed. Robot will be “heavy” to move around compared to Freedrive mode. •...
  • Page 12 4. Recommended Inspection Activities • Remove filters from controller box and clean them thoroughly using low pressure air. • Replace filters if necessary. • Gently remove the outer plastic frame and maintain the filter. User Manual...
  • Page 13 4. Recommended Inspection Activities Merge Control Box • Controller box has two filters, one mounted on each side of the box. User Manual...
  • Page 14 4. Recommended Inspection Activities • Remove filters from controller box and clean them thoroughly using low pressure air. • Replace filters if necessary. • Gently remove the outer plastic frame and maintain the filter. User Manual...
  • Page 15 4. Recommended Inspection Activities Cleaning the Robot in Relation to COVID You can wipe away any dust/dirt/oil observed on the robot arm using a cloth and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10% Naphtha. In rare cases, very small amounts of grease can be visible from the joint.

  • Page 16: Robot Arm

    4.2. Robot Arm 4.2.1. Inspection plan Set forth below is a check list of inspections that Universal Robots recommends be performed according to the marked time interval. If upon inspection, the referenced parts are not in an acceptable state, please rectify immediately.

  • Page 17: Inspection Plan

    4. Recommended Inspection Activities 4.2.2. Inspection Plan Set forth below is a check list of inspections that Universal Robots recommends be performed according to the marked time interval. If upon inspection, the referenced parts are not in an acceptable state, please rectify immediately.
  • Page 18 4. Recommended Inspection Activities • Replace blue lids if cracked or damaged. • Inspect that screws for blue lids are in place and properly tightened. • Replace screws, tighten properly if necessary. • Correct torque value for screws on blue lids are 0.4Nm. If any damage is observed on a robot within the warranty period, contact the distributor from which the robot has been purchased.

  • Page 19: Service And Replacement Of Parts

    5. Service and Replacement of parts 5. Service and Replacement of parts 5.1. Handling ESD Sensitive Parts To prevent damage to ESD-sensitive parts, follow the instructions below. These are in addition to standard precautions such as turning off power before removing circuit boards. Keep the ESD-sensitive part in its original shipping container.
  • Page 20 5. Service and Replacement of parts Step 1: Step 2: Put OLD board into spare ESD bag. Take NEW board out of ESD bag. Hold the ESD-sensitive part by its edges. Do not touch its pins! User Manual...
  • Page 21 5. Service and Replacement of parts Do not place the ESD-sensitive part on nonconductive material or on a metal table. If the ESD- sensitive part needs to be put down for any reason, then first put it into its special ESD bag User Manual...

  • Page 22: Recommended Tools

    5. Service and Replacement of parts Machine covers and metal tables are electrical grounds.They increase the risk of damage, because they make a discharge path from your body through the ESD-sensitive part. (Large metal objects can be discharge paths without being grounded.) Prevent ESD-sensitive parts from being accidentally touched by other personnel and do not put unprotected ESD-sensitive parts on a table.

  • Page 23: Robot Arm

    Universal Robots cannot be held responsible for damage caused to non-UR equipment mounted on the robot. • Backup all relevant files before sending the robot/part to UR. Universal Robots cannot be held responsible for loss of programs, data or files stored in the robot.

  • Page 24: Robot Arm Configuration

    5. Service and Replacement of parts 5.2.2. Robot Arm Configuration Tool flange Tool flange – Wrist 3 joint J Size 0 Wrist 3 joint – Wrist 2 joint Wrist 2 joint – Wrist 1 joint J3 Size 0 Wrist 1 joint – Lower arm J3 Size 0 Elbow counterpart –...

  • Page 25: General Guidance To Separate Joint From Counterpart

    5. Service and Replacement of parts Brake on Base, Shoulder and Elbow joints Brake on Wrist joints 4. Make sure to replace blue lid onto joint correctly and fasten screws before turning on Controller. 5. Correct torque value for screws on blue lids are 0.4Nm 5.2.4.
  • Page 26 5. Service and Replacement of parts 6. Gently unplug the cable connectors without bending the printed circuit board. Some connectors have a lock that must be engaged before it is pulled out of the printed circuit board. Example below. 7. Disconnect wires. 8.
  • Page 27 5. Service and Replacement of parts Assemble: After replacing a joint do as follows to assemble the robot arm. 1. Gently insert a screw with washer into each of the ten threaded holes in the joint housing (the joint will most likely have these already inserted). CAUTION It’s important that the correct screws are placed in the correct hole.
  • Page 28 5. Service and Replacement of parts CAUTION Ensure the alignment taps are aligned before assembly. If the taps are opposite each other (180 degree offset), the joints cannot be merged properly and there is a risk the joint will loosen itself over time. 2.

  • Page 29: Torque Values

    7. Mount the blue lid on the joint and tighten with 0.4Nm. 8. Proceed to chapter Dual Robot Calibration for calibrating the robot. 5.2.5. Torque Values UR5 torque values CONNECTION TORQUE HEAD SIZE Base mounting bracket J0 Base 2.6Nm 7 mm.

  • Page 30: Base Joint - Base Mounting Bracket

    5. Service and Replacement of parts 5.2.6. Base Joint – Base Mounting Bracket Disassemble For details and photos please see: General Guidance to Separate Joint from Counterpart User Manual...

  • Page 31: Shoulder Joint - Base Joint

    5. Service and Replacement of parts 1. Shut down the controller. 2. Remove alignment screw. 3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint housing. 4. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws with a 7 mm.
  • Page 32 5. Service and Replacement of parts 1. Shut down the controller. 2. Remove blue lid on Base joint. 3. Connect ESD wristband 4. Disconnect wires between base plate and Base joint. 1 x red wire = 48V DC 1 x black wire = GND Black connector = bus cable (note connector orientation)

  • Page 33: Upper Arm - Shoulder Joint

    5. Service and Replacement of parts 7. Reconnect connectors as illustrated. 8. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce electrical noise in the system) 9. Mount blue lid on Base joint and tighten with 0.4Nm.  Proceed to chapter Dual Robot Calibration for calibrating the robot.
  • Page 34 5. Service and Replacement of parts 6. Unmount screws around the upper arm as indicated on the illustration:  7. Pull away the Shoulder joint from upper arm. Assemble For details and photos please see: General Guidance to Separate Joint from Counterpart 1.

  • Page 35: Elbow Joint - Upper Arm

    5. Service and Replacement of parts 7. Mount blue lid on Shoulder joint and tighten with 0.4Nm.  8. Proceed to chapter Dual Robot Calibration for calibrating the robot. 5.2.9. Elbow joint – Upper arm Disassemble and assemble Procedure for separating Elbow joint from Upper arm is similar to separation of Upper arm and Shoulder joint, consult chapter Upper arm –...

  • Page 36: Wrist 1 Joint - Lower Arm

    5. Service and Replacement of parts Assemble For details and photos please see: General Guidance to Separate Joint from Counterpart 1. Reconnect connectors 2. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce electrical noise in the system. 3.
  • Page 37 5. Service and Replacement of parts 1. Shut down the controller. 2. Remove blue lid on Wrist 1 joint. 3. Connect ESD wristband 4. Disconnect wires between lower arm and Wrist 1 joint. 1 x red wire = 48V DC 1 x black wire = GND Black connector = bus cable (note connector orientation)

  • Page 38: Wrist 2 Joint - Wrist 1 Joint

    5. Service and Replacement of parts 9. Mount blue lid on Wrist 1 joint and tighten with 0.4Nm. 10. Proceed to chapter Dual Robot Calibration for calibrating the robot. 5.2.12. Wrist 2 joint – Wrist 1 joint Disassemble For details and photos please see: General Guidance to Separate Joint from Counterpart 1.

  • Page 39: Wrist 3 Joint - Wrist 2 Joint

    5. Service and Replacement of parts 1. Gently insert Wrist 1 joint with screws and washers into Wrist 2 joint. 2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important) before gently twisting the parts in opposite directions until a mechanical stop is met.
  • Page 40 5. Service and Replacement of parts 1. Shut down the controller. 2. Remove alignment screw. 3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint housing. 4. Slide the grey Teflon ring back. 8 screws become visible, 4 on each side of joint. Loosen the screws with a 5.5 mm.

  • Page 41: Instructions For Calibrating A Joint

    5. Service and Replacement of parts 1. Connect ESD wristband  2. Replace tool flange and reconnect connectors as illustrated. 3. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce electrical noise in the system. 4. Gently insert tool flange with screws and washers into the Wrist 3 joint. 5.
  • Page 42 5. Service and Replacement of parts Illustration shows the HOME position, which is defined as zero position of all joints. 2. Swipe from left to right across the UNIVERSAL ROBOTS logo on main screen of PolyScope. 3. Enter password lightbot and press OK.
  • Page 43 5. Service and Replacement of parts 4. You are now in Expert Mode, press Low Level Control. WARNING In Low Level Control, only the safety settings in the Polyscope Installation tab are active. The protective stop is NOT active. Set all safety settings to their lowest settings before moving the robot. 5.
  • Page 44 5. Service and Replacement of parts 6. Press Go to Idle to put joints into ready mode. 7. Select the desired joint by directly clicking the status line for that joint. Currently selected joint is highlighted in blue. 8. Press Arm current joint to release the brake on the selected joint. User Manual...
  • Page 45 5. Service and Replacement of parts Use the Up and Down buttons in the Move window to rotate the joint to the correct zero position according to the following illustrations. Press STOP when the joint is in the correct position. 9. Zero position illustrations Base: Shoulder, Elbow, Wrist 1: User Manual...
  • Page 46 5. Service and Replacement of parts Shoulder, Elbow and Wrist 1 zero output flange Base zero position is aligned so that the vertically aligned (assuming Base is output flange is offset 180 degrees from the horizontal). Make sure that base of robot is cable at the back of the robot base.
  • Page 47 5. Service and Replacement of parts 11. Press Back to exit Low Level Control. 12. Press Return to Normal. 13. Verify zero position by moving the robot to HOME. If not satisfied with the zero position, perform the procedure once again. User Manual...

  • Page 48: Dual Robot Calibration

    5. Service and Replacement of parts 5.2.16. Dual Robot Calibration Dual Robot Calibration kit (Part no: 185500) The Dual Robot Calibration process calibrates the robot across its full workspace. All robots are Dual Robot Calibrated before leaving the factory. If a joint has been replaced, then the factory calibration is no longer valid. There are 2 options: •...
  • Page 49 5. Service and Replacement of parts 1. Disconnect the joint with correct ID no. 2. Enter Low Level Control 3. Press Turn power on and the connected joints enter BOOTLOADER mod 4. Press Go to Idle and the connected joints enter READY mode 5.

  • Page 50: Joint Spare Part Adaptation

    11. When the robot is powered on again, J5 will be displayed as J3. 5.2.18. Joint Spare Part Adaptation The UR5 and UR10 consist of four different joint sizes, some of which are interchangeable between different positions/robots. Recommended spare joints for UR5 and UR10 are marked.

  • Page 51: Wire Bundle Installation Guide

    5. Service and Replacement of parts * When using a joint in a different location i.e. UR5 base as UR5 Elbow, it may be necessary to change ID, connect all joints electrically, turn the joint 180 degrees in low level control by using the Move Tab Up/Down function, before mechanically assembling the robot.
  • Page 52 5. Service and Replacement of parts • Inset wire bundle as shown on photo, with the cable tie towards the flange. • Mount the grommet into the flex plate with the tweezers or the small flat nose screwdriver. • Hold the heat shrink with tweezers while sliding down the grommet.
  • Page 53 5. Service and Replacement of parts • Mount a cable tie on top of the grommet. • Tighten and cut it off with the cable tie tool. • Take the power connector: • When inserting the connector pins, make sure the barbs, shown with green arrows, are located as shown on the photo.
  • Page 54 5. Service and Replacement of parts • Take the communication connector: • When inserting the connector pins, make sure the barbs, shown with green arrows, are located as shown on the photo. If not, they will not hook inside the connector and will fall out. •...
  • Page 55 5. Service and Replacement of parts Size 3 – part number: 103503 • Inset wire bundle as shown on photo example, with the cable tie towards the flange. • Mount the grommet into the flex plate with the tweezers or the small flat nose screwdriver.
  • Page 56 5. Service and Replacement of parts • Mount a cable tie on top of the grommet. • Tighten and cut it off with the cable tie tool. • The two power cables (two thicker, red and black wires) needs to be stripped (approx. 5mm). •...
  • Page 57 5. Service and Replacement of parts • Take the communication connector: • When inserting the connector pins, make sure the barbs, shown with green arrows, are located as shown on the photo. If not, they will not hook inside the connector and will fall out. •...
  • Page 58 5. Service and Replacement of parts • When it is pulled all the way through, it should look like the photo. Upper arm – part number: 103509 NOTE The lower arm wire bundle kit contains wire bundle for multiple robot types. Please be sure use the correct length.

  • Page 59: Controller

    5. Service and Replacement of parts 5.3. Controller 5.3.1. Replacement of Motherboard 3.0 WARNING Before replacing ANY components inside the control box, it is IMPORTANT to do a complete shutdown. Follow the first 3 steps in section Complete rebooting sequence. When completing the following replacement, please follow the guidelines laid out in section Handling ESD-sensitive parts NOTICE Motherboard 3.0 uses compact flash memory card.
  • Page 60 5. Service and Replacement of parts 1. Shut down the controller and disconnect the power cable, open the controller cabinet and remove the 3 torx screws 2. Remove the aluminum cover plate 3. Disconnect cable connections from motherboard: 1. White plug with white, brown, yellow and green wires, 12 V Power 2.
  • Page 61 5. Service and Replacement of parts 5. DVI-cable for Teach Pendant screen 6. Black cable for RS232-connection for Teach Pendant touch 4. Remove the 4 screws from the 2 holding brackets. 5. If controller is equipped with long-hole brackets, make sure to replace them with circular- hole brackets 6.
  • Page 62 5. Service and Replacement of parts WARNING Before replacing ANY components inside the control box, it is IMPORTANT to do a complete shutdown. Follow the first 3 steps in section Complete rebooting sequence. When completing the following replacement, please follow the guidelines laid out in section Handling ESD-sensitive parts How to replace motherboard 3.1 1.
  • Page 63 5. Service and Replacement of parts 3. Disconnect cable connections from motherboard 1. White plug with white, brown, yellow and green wires, 12 V Power 2. DVI-cable for TP screen 3. Ethernet cable to Safety Control Board SCB 4. Ethernet cable to external connector 5.

  • Page 64: Upgrade Motherboard 3.0 To

    5. Service and Replacement of parts 6. Insert the 6 cables in correct connectors.  Pay special attention to the Ethernet cable to the Safety Control Board. It must be connected to the right connector on the mother board 7. Re-install USB stick for UR system Software.  8.
  • Page 65 5. Service and Replacement of parts • Compact flash card reader • Laptop with USB port, running Windows (7 or higher) or Linux (10 or higher) operating system Time needed: Approx. 1 hour Hardware • Always use an ESD wristband when working on the controller. Put the ESD wrist strap on your wrist.
  • Page 66 5. Service and Replacement of parts • Unscrew the motherboard by loosening the 4 x 2.5mm hex screws and the 4 x 5,5 hex standoffs that hold the RS232 and DVI connectors • Mount the smaller standoffs where the motherboard screws were before. Place the black cable from the Teach Pendant and the Ethernet cable on the left side of the Standoff as shown on the photo.
  • Page 67 5. Service and Replacement of parts Figure 1 • Unscrew the 3 standoffs that hold the cover for the motherboard and mount the new larger standoffs. • Mount the motherboard onto the standoffs. Please note that the two screws toward the outside of the controller may be more difficult to get into position.
  • Page 68 5. Service and Replacement of parts • Now take the new cover for the motherboard and navigate the flat cable under the motherboard and to the connector as shown in the photo below. • Plug the new power cable from the SCB to the CB 3.1 motherboard as shown. User Manual...
  • Page 69 5. Service and Replacement of parts • Screw on the new cover. Please note that the screw toward the outside of the controller may be difficult to get into position. • Mount the new cover for the Safety Control Board. • Mount all the connectors again according to the sticker on the cover and photo below. The USB stick should be plugged into the blue USB port.

  • Page 70: Replacement Of Safety Control Board

    Do not downgrade a robot with a CB3.1 motherboard, to a Software version below 3.1.1.7336. Doing so may cause unexpected behavior of the robot. Universal Robots assumes no responsibility for the outcome of this process. The instructions in this document shall be considered as general guidelines. It is assumed that the integrator has a high level of technical knowledge.
  • Page 71 5. Service and Replacement of parts 1. Check that the software on the robot is not older than the firmware version on the SCB. If the software on the robot is older, error C203A0 will be displayed. The SCB firmware version can be found on the Ethernet connector. This can also be found in the “About”...
  • Page 72 5. Service and Replacement of parts 3. Remove the 5 torx screws and followed by the aluminum cover. 4. Carefully remove all plugs and connectors from the Safety Control Board. 5. Remove the 14 screws holding the board in place. 6. Replace Safety Control Board with new one and tighten the 14 screws to fasten the board in place.

  • Page 73: Replacement Of Teach Pendant

    5. Service and Replacement of parts 8. Carefully attach the aluminum cover, making sure to mount it correct and fix it with the 5 screws. If unsure of the correct positions consult Electrical Drawing 5.3.5. Replacement of Teach Pendant Original Control Box WARNING Before replacing ANY components inside the control box, it is IMPORTANT to do a complete shutdown.
  • Page 74 5. Service and Replacement of parts 2. Remove the bracket (foot of the controller box) that holds the cable inlet and pull out the cables and plugs through this hole.  3. To install new teach pendant, thread cables through inlet, plug connectors into correct positions, then mount aluminum cover into place.
  • Page 75 5. Service and Replacement of parts 2. Remove the bracket by removing the 8 torx screws and that hold it in place. 3. Pull the two plates apart User Manual...

  • Page 76: Replacement Of 48V Power Supply

    5. Service and Replacement of parts 4. To install new teach pendant, thread cables through inlet, plug connectors into correct positions, then mount aluminum cover into place. 5. Connect power and verify that teach pendant functions correctly. See diagram: Schematic overview. 5.3.6.
  • Page 77 5. Service and Replacement of parts NOTE Use the same procedure for power down and removing the aluminum cover plates as in chapter, Replacement of Motherboard 3.0, Replacement of Motherboard 3.1 Replacement of Safety Control Board 1. Remove teach pendent cable – see previous section 2.
  • Page 78 The module is not loose from the controller. 10. Power supplies are located in the rack under the controller module, the two 48V power supplies are the lower ones in the rack (UR3 and UR5 has one and UR10 has two 48V power supplies).
  • Page 79 5. Service and Replacement of parts 11. Remove the screws keeping the defective 48V power supply in place from the side of the rack. 12. Replace the defect 48V power supply with the new one. 13. Reconnect the wires for the 48V power supply. 14.
  • Page 80 5. Service and Replacement of parts To replace 48V power supply in controller box: NOTE Use the same procedure for power down and removing the aluminum cover plates as in chapter, Replacement of Motherboard 3.0, Replacement of Motherboard 3.1 Replacement of Safety Control Board 1.
  • Page 81 5. Service and Replacement of parts 3. Remove the 4 nuts (M6) in the top and bottom of controller module. 4. Gently take out the controller module from the controller box. 5. Turn the module 90° counterclockwise and place it on the controller edge. 6.
  • Page 82 The module is now loose from the controller. 9. Power supplies are located in the rack under the controller module, the two 48V power supplies are the lower ones in the rack (UR3 and UR5 has one and UR10 has two 48V power supplies).

  • Page 83: Replacement Of 12V Power Supply

    5. Service and Replacement of parts 12. Reconnect the wires for the 48V power supply. 13. Reinstall controller module in reverse order attached all wire and mount the 4 bolts with 2,25 Nm. 14. Carefully put back the aluminum cover plate, making sure to mount it correctly and fix into place with the screws.

  • Page 84: Replacement Of Current Distributor

    5. Service and Replacement of parts 1. The 12V power supply is placed in the top of the rack. The screws holding it in the frame are at the sides. 2. Replace 12V power supply with new one. 3. Reconnect the wires for the 12V power supply. 4.
  • Page 85 5. Service and Replacement of parts NOTE To replace the current distributor, follow the same steps as for the procedure in chapter Replacement of 48V power supply How to replace current distributor in controller box: 1. Current distributor is placed on top of the rack. 2.

  • Page 86: Software

    Read the complete section prior to updating your software. Controller power MUST NOT be turned off during software update process. Universal Robots assume no responsibility for any failed update caused by improper operation. Updating the software may cause changes to some functionality. Always check with the release notes on the Universal Robots support site.www.universal-robots.com/support/...
  • Page 87 6. Software 4. Go to main screen of PolyScope. 5. Press SETUP Robot. 6. In left side menu, select Update Robot. 7. Press button Search to search for software update files on USB-stick. 8. Select the desired software update and press UPDATE. User Manual...

  • Page 88: Update Joint Firmware

    NOTICE Read the complete section prior to updating your firmware. Controller power MUST NOT be turned off during firmware update process. Universal Robots assume no responsibility for any failed update caused by improper operation. Software version 3.1.16828 and newer: When the software is updated on a robot the firmware is automatically updated.
  • Page 89 6. Software 1. Swipe from left to right across the UNIVERSAL ROBOTS logo on main screen of PolyScope. 2. Enter password lightbot and press OK. 3. You are now in Expert Mode, press Low Level Control. User Manual...

  • Page 90: Using Magic Files

    7. After successful update, press Back. 8. Back in Expert Mode, press Return to Normal. 9. Firmware has now been updated 6.3. Using Magic files For easy backup, Universal Robots provides Magic files to automatically copy data from controller to USB-stick. User Manual...

  • Page 91: Backup Of Data

    6. Software Function These files are available URmagic log file Copies the entire log history file to USB-stick Copies all programs and installation files to URmagic backup programs USB-stick URmagic configuration files Copies all configuration files to USB-stick Copies all programs and installation files from URmagic upload programs USB-stick Generates a screenshot of GUI when USB-stick...

  • Page 92: Software Requirements

    Part no. 122430 (CB3.0 to CB3.1 upgrade kit) 6.4.2. Software Requirements A Linux software file system driver is required; Universal robots recommend the free Linux- partition driver Ext2Fsd but other windows Linux reader can be used as well (these are however not tested by Universal Robots).

  • Page 93: Copy The Data From Cf-Card To Ur-Usb

    6. Software 6.4.4. Copy the data from CF-card to UR-USB 1. Take CF-card from control box and insert the CF-card in card reader and the UR-USB in one of the computers USB ports. 2. CB3:  Open windows explorer navigate to the CF-card open the folder “programs”, select all the files in the folder, right click and select Copy.
  • Page 94 6. Software 3. Navigate to the UR-USB right-click on the folder “programs” and select Paste. User Manual...
  • Page 95 6. Software 4. Navigate to the root folder on the CF-Card User Manual...
  • Page 96 6. Software User Manual...
  • Page 97 6. Software 5. In the root folder view select the folders and files highlighted in yellow, then right-click and select Copy. If the .urpass.file or .ursafetypass.file is not visible on the CF-card, then the files don’t need to be saved User Manual...
  • Page 98 6. Software 6. Navigate to the UR-USB right-click on the folder root and select paste. 7. A prompt will popup when the files are being copied, in the prompt choose Copy and replace. 8. Check the checkbox marked yellow. User Manual...
  • Page 99 6. Software 9. All required files are copied. UR-USB can now be inserted in new motherboard and booted User Manual...

  • Page 100: Troubleshooting

    7. Troubleshooting 7. Troubleshooting In the error codes, different words have been used for the same thing: • On the Safety Control Board: Processor A = A uP = SafetySys1 • On the Safety Control Board: Processor B = B uP = SafetySys2 Abbreviations in the troubleshooting chapter PSU = Power Supply PC  ...
  • Page 101 7. Troubleshooting C4A1 Communication with Between Safety Control a) Check Ethernet cable PC lost. Board and Motherboard between Safety Control Board and Motherboard, check that a script or UR+ software is not overloading the communication between the Safety Control Board and Motherboard. b) Do a Complete rebooting sequence as per section 5.3.7...
  • Page 102 7. Troubleshooting C4A5 Communication with If either processor A or a) Check RS485-12V secondary Teach processer B is connection between Pendant uP lost communicating, the Teach Motherboard and Teach Pendant or cable between Pendant. the Motherboard and Teach b) Do a Complete rebooting Pendant is defect sequence as per section 5.3.7...
  • Page 103 7. Troubleshooting C4A11 Secondary Teach Incorrect safety a) Update the Pendant uP present, configuration miscellaneous settings in Teach Pendant safety the Safety Configuration is disabled b) Do a Complete rebooting sequence as per section 5.3.7 C4A12 Communication with More than 1 package lost a) Verify that the joint 0 lost communication cables are...
  • Page 104 7. Troubleshooting C4A18 Communication with More than 1 package lost a) Verify that the tool lost communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A65 Lost package from 1 package lost – warning If this appears often in the Primary Teach log, then: Pendant...
  • Page 105 7. Troubleshooting C4A69 Lost package from 1 package lost – warning If this appears often in the Secondary log, then: Masterboard a) Verify that the communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A70 Lost package from Serial communication If this appears often in the...
  • Page 106 7. Troubleshooting C4A74 Lost package from Serial communication If this appears often in the joint 4 problem with one or more log, then: joints a) Verify that the communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A75 Lost package from...
  • Page 107 7. Troubleshooting C4A79 Lost package from 1 package lost – warning If this appears often in the uPA to uPB log, then: a) Verify that the communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A80 Lost package from 1 package lost –...
  • Page 108 7. Troubleshooting C4A84 Packet counter If this appears often in the disagreement in log, then: packet from a) Verify that the Secondary communication cables are Euromap67 connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A85 Packet counter If this appears often in the disagreement in log, then:...
  • Page 109 7. Troubleshooting C4A89 Packet counter If this appears often in the disagreement in log, then: packet from joint 3 a) Verify that the communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A90 Packet counter If this appears often in the disagreement in log, then:...
  • Page 110 7. Troubleshooting C4A94 Packet counter If this appears often in the disagreement in log, then: packet from a) Verify that the processor A to B communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 C4A95 Packet counter If this appears often in the disagreement in...
  • Page 111 7. Troubleshooting C5A2 Heavy processor load If this appears often in the warning:2 log, then: a) Verify that the communication cables are connected properly b) Do a Complete rebooting sequence as per section 5.3.7 Broken PC a) Do a Complete rebooting communication error sequence as per section 5.3.7...
  • Page 112 7. Troubleshooting C14A3 {unsigned} Should not occur in the field If you see this error on a robot, report it to Universal Robots. Inbuffer overflow in Communication error a) Check Ethernet package from PC between Safety Control connection between circuit Board and Motherboard boards.
  • Page 113 7. Troubleshooting C34A1 Program flash Update Firmware checksum failed at runtime Joint ID is undefined Illegal bootloader Debug message Ignore command Inbuffer parse error Serial communication Check black 2-wire problem with joint connectors and wires in joints Online RAM test Check the log file for what failed item is reporting this error.
  • Page 114 7. Troubleshooting C39A3 Max motor-encoder a) Do a Complete rebooting speed exceeded sequence as per section 5.3.7 b) If this happens more than two times in a row, replace joint C39A4 Illegal state change in joint detected C39A5 A timing issue Too fast state change in Do a Complete rebooting occurred during...
  • Page 115 7. Troubleshooting C39A106 Watchpoint fault: CalVal-test task timeout C39A107 Watchpoint fault: ROM-test task timeout AD-Converter hit high EMC issue external or Check grounding and limit joint electronics internal shielding for EMC problems C41A0 RC Oscillator Trim a) Do a Complete rebooting register hit high limit sequence as per section 5.3.7...
  • Page 116 7. Troubleshooting CRC check failure on Serial communication a) Check black 2-wire primary bus problem with joint or connectors and wires in secondary bus node joints b) Do a Complete rebooting sequence as per section 5.3.7 c) If this happens more than two times in a row, contact your local service provider for assistance...
  • Page 117 7. Troubleshooting C44A3 Joint 3 CRC check Serial communication a) Check black 2-wire failure on primary bus problem with joint or connectors and wires in secondary bus node joints b) Do a Complete rebooting sequence as per section 5.3.7 c) If this happens more than two times in a row, contact your local service provider for assistance...
  • Page 118 7. Troubleshooting C44A80 CRC Check failure on Most likely an interference a) Check black 2-wire primary bus on the communication bus connectors and wires in joints b) Do a Complete rebooting sequence as per section 5.3.7 c) If this happens more than two times in a row, contact your local service provider for assistance.
  • Page 119 7. Troubleshooting C50A5 Power supply voltage voltage is below 40V Check 48 V cable between too low Power supply and Safety Control Board. C50A6 Power supply voltage Voltage is above 56V too high C50A11 Voltage not detected 24 V to the I/O interface in at 24V rail after the controller startup...
  • Page 120 7. Troubleshooting C50A24 48V not present This error can have several root causes and you have to (Check internal measure the voltage some places. connection) There are 3 different components that could be the root cause and you have to measure the voltage to determine which one of them that is the faulty one.
  • Page 121 7. Troubleshooting C50A53 58V generator deviation error C50A54 5V regulator too low C50A55 5V regulator too high C50A56 -4V generator too low C50A57 -4V generator too high C50A80 Last CPU reset caused by Low- Power-Reset C50A81 Last CPU reset caused by Window- Watchdog-Reset C50A82 Last CPU reset...
  • Page 122 7. Troubleshooting C51A0 Processor B C51A1 Primary screen CRC check failure on Safety processor processor 1 in Teach pendant C51A2 Secondary screen CRC check failure on Safety processor processor 2 in Teach pendant C51A3 Primary E67 C51A4 Secondary E67 IO overcurrent Safety Control Board error Remove all external detected...
  • Page 123 7. Troubleshooting C55A24 Safety relay error Current distributor error a) Check cable from Safety (plus connection) Control Board to Current distributor or 48V Power supply and Current distributor for issues b) Do a Complete rebooting sequence as per section 5.3.7 C55A33 Safety relay error (a Current distributor error a) Check cable from Safety...
  • Page 124 7. Troubleshooting C55A52 5V, 3V3 or ADC error Safety Control Board a) Do a Complete rebooting (5V too low) hardware fault sequence as per section 5.3.7 b) If this happens more than two times in a row, replace Safety Control Board C55A53 5V, 3V3 or ADC error Safety Control Board...
  • Page 125 7. Troubleshooting Overvoltage shutdown Voltage exceeded 55V a) Check Energy Eaters cable and connections. b) Check Energy c) Replace Energy Eater Brake release failure a) Check Brake, solenoid b) Check TCP configuration, payload and mounting settings C57A1 Joint did not move or a) Check Brake, solenoid motor encoder is not b) Check TCP...
  • Page 126 7. Troubleshooting C62A3 Thermal issue: Warning a) Check nothing is Warning: Static load hindering free movement of to high the joints b) Check TCP configuration, payload and mounting settings C62A11 Thermal issue: Joint Stop a) Check nothing is temperature: Shut hindering free movement of down (85 C)"...
  • Page 127 7. Troubleshooting Startup check error Fault: Firmware in joint Update firmware C71A0 Hardware is size0, Fault: Firmware in joint Update firmware wrong firmware at the joint C71A1 Hardware is size1, Fault: Firmware in joint Update firmware wrong firmware at the joint C71A2 Hardware is size2, Fault: Firmware in joint...
  • Page 128 UR5 robot Safety Control Board and check that the flashcard/USB and robot match C72A3 2 Power supplys UR5 flash card in UR10 robot Check that the active, but we expect flashcard/USB and robot 1 (UR5) match Brake test failed...
  • Page 129 7. Troubleshooting C74A4 System error=malfunction or inconsistent calibration detected C74A8 Supply voltage is out of range C74A16 Temperature is out of range C74A64 Signal low =Too far from magnetic ring C74A128 Signal saturation =Too close to magnetic ring C74A207 Joint encoder error Example: Argument 207 is the sum of 128,64,8,4,2,1 which means that all the errors in connection to argument 1, 2, 4, 8, 64 and 128 have been reported.
  • Page 130 7. Troubleshooting C75A16 Temperature is out of Check previous error range C75A32 Signal lost a) Do a Complete rebooting =Misaligned readhead sequence as per section or damaged ring 5.3.7 b) If this happens more than two times in a row, replace joint C75A64 Signal low =Too far a) Do a Complete rebooting...
  • Page 131 7. Troubleshooting C102 Real Robot not connected – Simulating Robot C103 UR Ethernet Error Communication problem a) Check that the Ethernet between Motherboard and cable between Safety Control Board Motherboard and Safety Control Board is connected b) Do a Complete rebooting sequence as per section 5.3.7 C103A1...
  • Page 132 7. Troubleshooting C152 Protective Stop: Position close to safety plane limits C153 Protective Stop: Check TCP configuration, Position deviates payload and mounting from path settings C154 Protective Stop: Robot cannot move linear Use MoveJ or change the Position in singularity near a singularity motion C155 Protective Stop:...
  • Page 133 7. Troubleshooting C171A0 A MoveC-waypoint The value for the blend Decrease the blend radius were skipped due to a radius is too large compared or choose waypoints that blend. to the distance between the are further apart. waypoints. C171A1 Blend radius too Increase blend in MoveC small in a MoveC C171A3...
  • Page 134 7. Troubleshooting C184 Joint self test not received by controller C185A1 START_NORMAL_ OPERATION is not allowed on selftest firmware C185A2 GOTO_BACKDRIVE_ COMMAND is not allowed on selftest firmware C186A1 joint_mode == JOINT_ RUNNING_MODE is not allowed on selftest firmware C190 Joint failed during selftest C190A0 Motor encoder index...
  • Page 135 7. Troubleshooting C191A1 Joint position limit violated C191A2 Joint speed limit violated C191A3 TCP speed limit violated C191A4 TCP position limit violated C191A5 TCP orientation limit violated C191A6 Power limit violated C191A7 Joint torque window violated C191A8 Joint torque window too large C191A9 Reduced mode output violation...
  • Page 136 7. Troubleshooting C191A18 Robot not stopping output violation C191A19 Invalid safety IO Fault in config file, when no configuration GUI is used C191A20 Configuration information or limit sets not received C191A21 The other safety processor detected a violation C191A22 Received unknown command from controller C191A23...
  • Page 137 7. Troubleshooting C191A28 Robot Emergency Too high payload a) Check that max payload Stop exceeded of the robot has not been maximum stop time exceeded. b) Check TCP configuration, payload and mounting settings C191A29 System Emergency Too high payload a) Check that max. payload Stop exceeded of the robot has not been maximum stop time...
  • Page 138 7. Troubleshooting C192A1 Robot still powered in When emergency stop is emergency stop active, the robot arm powers off. The controller is responsible for sending the power off command. This error is generated, if the safety system detects that the robot arm still has power.
  • Page 139 7. Troubleshooting C192A10 TCP position a) Check TCP disagreement configuration, payload and mounting settings b) Check that safety settings respected. C192A11 TCP orientation a) Check TCP disagreement configuration, payload and mounting settings b) Check that safety settings respected. C192A12 Power disagreement Power calculation: uP-A and Joint error: Check previous uP-B disagreement...
  • Page 140 7. Troubleshooting C192A22 Robot moving output Safety I/O uP-A and uP-B Check safety devices and disagreement disagreement cables/connections to these devices. C192A23 Wrong processor ID C192A24 Wrong processor revision C192A25 Potential brownout Voltage drop on Safety detected Control Board or defect Safety Control Board C192A26 Emergency stop...
  • Page 141 7. Troubleshooting C192A36 Online RAM test failed C192A37 Not all safety related functionalities are running C192A38 Package too short for CRC calculation C192A39 Three position switch input disagreement C192A40 Operation mode switch input disagreement C193 One of the nodes is in Safety Control Board has a) See previous error fault mode...
  • Page 142 7. Troubleshooting C193A4 Joint 4 is in fault Safety Control Board has a) See previous error mode detected an error b) Update the firmware on the joint c) Do a Complete rebooting sequence as per section 5.3.7 C193A5 Joint 5 is in fault Safety Control Board has a) See previous error mode...
  • Page 143 7. Troubleshooting C194A3 Joint 3 is not booted Safety Control Board has or not present detected an error C194A4 Joint 4 is not booted Safety Control Board has or not present detected an error C194A5 Joint 5 is not booted Safety Control Board has or not present detected an error C194A6...
  • Page 144 7. Troubleshooting C195 Conveyor speed too Conveyor speed higher than Make sure that conveyor high robot is able to run tracking is set correctly C195A1 Conveyor speed too Make sure that conveyor high for joint speed tracking is set correctly safety limit C195A2 Conveyor speed too Make sure that conveyor...
  • Page 145 7. Troubleshooting C200A4 RAM test failed Safety Control Board: uP-A a) Do a Complete rebooting has detected an error sequence as per section 5.3.7 b) If this happens more than two times in a row, replace Safety Control Board C200A5 Register test failed Safety Control Board: uP-A a) Do a Complete rebooting has detected an error...
  • Page 146 7. Troubleshooting C200A11 5V power good is low Safety Control Board: uP-A a) Do a Complete rebooting has detected an error sequence as per section 5.3.7 b) If this happens more than two times in a row, replace Safety Control Board C200A12 3V3 voltage too low Safety Control Board: uP-A...
  • Page 147 7. Troubleshooting C200A17 PC current is too high Motherboard takes too high a) Do a Complete rebooting current sequence as per section 5.3.7 b) Check cable between Safety Control Board and Motherboard and check all connections to Motherboard. Also check for short circuit. C200A18 Robot voltage is too a) Do a Complete rebooting...
  • Page 148 7. Troubleshooting C200A22 12V voltage is too low a) Do a Complete rebooting sequence as per section 5.3.7 b) Check 12 V Power supply, cables and Safety Control Board for issues C200A23 It took too long to Safety Control Board error a) Do a Complete rebooting stabilize 24V sequence as per section...
  • Page 149 7. Troubleshooting C201A0 Setup of safety board No data was received from a) Do a Complete rebooting failed the Safety Control Board at sequence as per section initialization or invalid safety 5.3.7 parameters have been b) Check that the ethernet received. cable between Motherboard and Safety Control Board is connected...
  • Page 150 7. Troubleshooting C204A2 Inconsistency between target position and speed C204A3 Sudden stop The program contains To abort a motion, use motions that are not ramped "stopj" or "stopl" script correctly down commands to generate a smooth deceleration before using "wait". Avoid aborting motions between waypoints with blend C204A4...
  • Page 151 7. Troubleshooting C206A3 Target joint speed does not match target joint position – Joint 3 (Wrist 1) C206A4 Target joint speed does not match target joint position – Joint 4 (Wrist 2) C206A5 Target joint speed does not match target joint position – Joint 5 (Wrist 3) C207 Fieldbus input...
  • Page 152 7. Troubleshooting C214A1 The Kinematic The calibration checksum If moving a program from a Calibration checksum stored in the calibration.conf different robot to this one, does not match the does not match the values re-kinematic calibrate the Base checksum from the joint second robot to improve kinematics, otherwise ignore this message.

  • Page 153: Led Indicators And Fuses On Safety Control Board

    7. Troubleshooting C216A0 The offset of the joint The joint has been zeroed has changed by the user. Perform a kinematic calibration to improve kinematics if needed. C216A1 The offset of the The joint has been zeroed Base joint has by the user. Perform a changed kinematic calibration to improve kinematics if...
  • Page 154 7. Troubleshooting 1. Fuse 48 V: The 5A fuse (F801) “48V” protects all 48V in the system inclusive of Euromap from over current. This information is only for troubleshooting. Do NOT replace the fuse under any circumstances. In case of failure, ONLY replace the SCB with a new tested board. 2.

  • Page 155: Normal Startup Sequence For A Cb3.X Ur5

    7. Troubleshooting 7.2.1. Normal Startup Sequence for a CB3.x UR5 1. The 12V-Power supply LED is on when the power plug is connected to a working power supply. 2. When the power button on the teach pendant is pressed, all LED indicators are turned on except for the 48V, 24V and R LEDs.

  • Page 156: Error Phenomena

    7. Troubleshooting 7.3. Error Phenomena 7.3.1. Control Box: NO CONTROLLER Displayed in Initializing User Manual...

  • Page 157: Cable Displayed During Power Up

    7. Troubleshooting 7.3.2. NO CABLE Displayed During Power Up 7.3.3. Protective Stop Read also article 18939 on the support site www.universal-robots.com/support User Manual...
  • Page 158 7. Troubleshooting Ignoring protective stops is considered abuse of the robot which voids the warranty. These faults can be hidden from view under the following two circumstances: 1. Personnel simply resetting a fault without review of why the fault has happened. WARNING Ignoring protective stops masks fault detection! Pay careful attention to protective stops.

  • Page 159: Power On Failure In Initializing

    7. Troubleshooting Protective stops must never be acknowledged and reset automatically, it must always be a deliberate action by a user to resume after a protective stop. In general, protective stops are designed to inform the user that the robot has stopped due to an external event such as hitting an obstacle or similar.
  • Page 160 7. Troubleshooting User Manual...

  • Page 161: Checklist After A Collision

    7. Troubleshooting 7.3.5. Checklist After a Collision User Manual...

  • Page 162: Communication To Joints And Tool

    7. Troubleshooting 7.3.6. Communication to Joints and Tool 7.3.7. Complete Rebooting Sequence To do a complete reboot of the robot system follow these 5 steps: User Manual...

  • Page 163: Electrical Drawing

    7. Troubleshooting 7.4. Electrical Drawing Diagrams in pdf or in E-plan format, can be found on the support site: www.universal- robots.com/support/ User Manual...
  • Page 164 7. Troubleshooting User Manual...
  • Page 165 7. Troubleshooting User Manual...
  • Page 166 7. Troubleshooting User Manual...
  • Page 167 7. Troubleshooting User Manual...

  • Page 168: Schematic Overview

    7. Troubleshooting 7.4.1. Schematic Overview  Diagrams in pdf or in E-plan format, can be found on the support site: www.universal- robots.com/support User Manual...
  • Page 169 7. Troubleshooting User Manual...
  • Page 170 7. Troubleshooting User Manual...
  • Page 171 7. Troubleshooting User Manual...

  • Page 172: E-Plan Diagrams

    7. Troubleshooting 7.4.2. E-Plan Diagrams Diagrams in pdf or in E-plan format, can be found on the support site: https://www.universal- robots.com/support/ User Manual...
  • Page 173 7. Troubleshooting User Manual...
  • Page 174 7. Troubleshooting User Manual...
  • Page 175 7. Troubleshooting User Manual...
  • Page 176 7. Troubleshooting User Manual...
  • Page 177 7. Troubleshooting User Manual...
  • Page 178 7. Troubleshooting User Manual...

  • Page 179: Spare Parts

    122039 Tool Mounting Bracket UR5 CB2+ 122050 122050 Base Mounting Bracket Incl. Cable 6m 122121 Joint Size 1 Wrist 1 UR5 CB3 122011 Joint Size 1 Wrist 1 UR5 +CB2 122221 Joint Size 1 Wrist 2 UR5 CB3 122012 Joint Size 1 Wrist 2 UR5 +CB2...

  • Page 180: Controller

    8. Spare Parts 122032 Joint Size 3 Shoulder UR5 CB2+ 122323 Joint Size 3 Elbow UR5 CB3 122033 Joint Size 3 Elbow UR5 CB2+ 123100 123100 Elbow counterpart and lower arm UR5 103310 103310 Flat-ring sealing set UR10, external 103410 103410 Lid set complete UR10 incl.
  • Page 181 8. Spare Parts 122900 Controller excl. Teach Pendant UR5 CB3.1 122950 Controller excl. Teach Pendant UR10 CB3.1 122091 Teach Pendant complete CB3/CB3.1 122092 Teach Pendant complete CB2/CB2.1 122673 Euromap E67 module 106700 Euromap E67 kit CB2 (incl. Bypass plug and cable) 106800 Euromap E67 kit CB3 (incl.

  • Page 182: Tools

    * ESD Wrist strap 164084 164084 * Bypass cable (for setting joint-ID) 185500 Dual calibration tool 131501 131501 Bracket for mounting robotarm UR5 (Item profile) 131502 131502 Bracket for mounting robotarm UR5 (BOSCH profile) 131503 Bracket for mounting robotarm UR3 (Item &...

  • Page 183: Packing Of Robot

    NOTICE Remove any external tooling and external electrical connections before shipment. Universal Robots may reject the shipment if 3rd party products cannot be unmounted safely or they prohibit to the execution of required post repair tests. Universal Robots assume no responsibility for 3rd party goods return shipment.
  • Page 184 9. Packing of Robot • Pack robot arm and controller box in designated boxes. Make sure the robot arm is correctly orientated within the box. User Manual...

  • Page 185: Change Log

    10. Change Log 10. Change Log Date Revision Action Changes 3. May UR5_ Added Revision 3.0 released 2014 en_3.0 19. June UR5_ Changed Pictures and illustrations changed to match 3. gen. robot 2014 en_3.0.1 29. July UR5_ Changed Error codes, Spareparts changed to match 3. Gen robot and 2014 en_3.0.2 ESD handling added...
  • Page 186 10. Change Log May 2019 UR5_ Updated Inspection plan to chapter 2 en_3.2.2 Updated 1.4 Warning signs August UR5_ Added More guidance to section 3.1.4 2019     en_3.2.3 August UR5_ Added Merge control box details 2019 en_3.2.4 Sep. 2019 UR5_ Added More info in section 5.3.3 Protective stop en_3.2.5 Oct.

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