Safety Functions - Universal Robots UR3 Service Manual

Use the following sections as guide:
2.1.2 Safety Functional
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
Check electrical grounding 1< Ω to Control Box F
Check main power to Control Box
V = Visual inspection

4.1.2. Safety Functions

The robot safety functions must be tested at least once a year to ensure correct function. The
following tests must be performed.
• Backup data from the storage device - See section
• Test that the Emergency Stop button on the Teach Pendant functions:
• Press the Emergency Stop button on the Teach Pendant.
• Observe that the robot stops and turns off the power to the joints.
• Power on robot again.
• Test Freedrive mode:
• Unmount attachment or set TCP/Payload/CoG according to tool specifications.
• Set the robot in Free drive mode by holding the black Freedrive button on the back of
the Teach Pendant.
• Move the robot to a position stretched out horizontally to the edge of its workspace.
• Monitor that the robot maintains its position unsupported while the Freedrive button
is still pressed.
• Test Backdrive mode:
If the robot is close to collision, the BACKDRIVE function can be used to move the robot to
a safe position before initializing.
• Press ON to enable power, state will change to Idle.
• Press and hold Freedrive -> status will change to BACKDRIVE.
• Move the robot by hand as in Freedrive.
UR3
F = Functional inspection
4. Recommended Inspection Activities
Monthly Bi-annually Annually
F X
F X
F X
F X
V X
V X
F X
F
4.4 Backup of data
4
X
X
Service Manual