Universal Robots UR10 Service Manual

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Service Manual

Revision UR10_en_3.1.1

Robot:

UR10 with CB3-controller

valid from robot s/n 2014300001

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Summary of Contents for Universal Robots UR10

Page 1 Service Manual Revision UR10_en_3.1.1 Robot: UR10 with CB3-controller valid from robot s/n 2014300001...
Page 2: Table Of Contents
Contents General information ..........................4 1.1 Purpose ..............................4 1.2 Company details ............................5 1.3 Disclaimer ..............................5 Preventive Maintenance ........................... 6 2.1 Controller ..............................6 2.1.1 Inspection plan, Safety Functions ..................... 6 2.1.2 Visual inspection ..........................7 2.1.3 Cleaning and replacement of filters ....................7 2.2 Robot arm ..............................
Page 3 3.2.3 Replacement of Safety Control Board .................... 44 3.2.4 Replacement of teach pendant ...................... 46 3.2.5 Replacement of 48V power supply ....................47 3.2.6 Replacement of 12V power supply ....................50 3.2.7 Replacement of current distributor....................51 4. Software ..............................52 4.1 Update software ............................
Page 4: General Information
Universal Robots. Any improper use of the robot will invalidate the guarantee. Universal Robots recommends that you do not attempt repair, adjustment or other intervention in the mechanical or electrical systems of the robot unless a problem has arisen. Any unauthorized intervention will invalidate the guarantee.
Page 5: Company Details
Fax +45 38 79 89 89 1.3 Disclaimer 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 6: Preventive Maintenance
2. Preventive Maintenance 2.1 Controller 2.1.1 Inspection plan, Safety Functions The safety functions of the robots must be tested at least once a year to ensure correct function. The following tests must be performed.  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 the robot again...
Page 7: Visual Inspection
2.1.2 Visual inspection  Disconnect power cable from controller  Open cabinet door  Check connectors are properly inserted on printed circuit boards  Check for any dirt/dust inside of controller  If any dirt/dust is present: » gently use a vacuum cleaner to remove particles 2.1.3 Cleaning and replacement of filters ...
Page 8: Robot Arm
2.2 Robot arm 2.2.1 Visual inspection  Move robot arm to HOME position (if possible)  Turn off and disconnect power cable from controller  Inspect cable between controller and robot arm for any damage  Inspect flat rings for wear and damage »...
Page 9: Service And Replacement Of Parts
3. Service and Replacement of parts 3.1 Robot arm 3.1.1 Robot arm configuration 3.1.13 Tool flange – Wrist 3 joint 3.1.12 Wrist 3 joint – Wrist 2 joint 3.1.11 Wrist 2 joint– Wrist 1 joint 3.1.10 Wrist 1 joint – Lower arm 3.1.9 Elbow counter part –...
Page 10: Brake Release
3.1.2 Brake release If required, the brake on a joint can be released without power connected. IMPORTANT NOTICE:  Before releasing a brake it is extremely important to dismount any dangerous tooling to avoid any hazardous situations.  If releasing the brake on Base joint, Shoulder joint or Elbow joint, it is important to make proper mechanical support prior to releasing the brake.
Page 11: General Guidance To Separate Joint From Counterpart
3.1.3 General guidance to separate joint from counterpart Disassemble: 1. Shut down the controller. 2. Move the robot to a comfortable position for disassembly. If necessary dismount entire robot arm from work cell and place on a solid surface. 3. Remove blue lid. 4.
Page 12 7. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint housing. 8. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws with an open-ended spanner approximately two full turns each. 9.
Page 13 3. 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. 4. Gently tighten the 10 screws, and then tighten in cross order with the correct torque. Section 3.1.4 Torque value.
Page 14: Torque Values
3.1.4 Torque values UR10 torque values CONNECTION TORQUE HEAD SIZE BASE PLATE J0 BASE 8.0Nm 10 mm. [J0] BASE J[1] Shoulder 8.0Nm 10 mm. [J1] SHOULDER LOWER ARM 8.0Nm 10 mm. LOWER ARM [J2] ELBOW 3.0Nm 7 mm. [J2] ELBOW DUMMY JOINT 3.0Nm...
Page 15: Base Joint - Base Mounting Bracket
3.1.5 Base joint – Base mounting bracket Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 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.
Page 16 Base joint – Base mounting bracket: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Replace base plate and reconnect wires according to illustration: Twist the communication wires before they are connected. (To reduce electrical noise in the system) 2.
Page 17: Shoulder Joint - Base Joint
3.1.6 Shoulder joint – Base joint Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Shut down the controller. 2. Remove blue lid on Base joint. 3. Connect ESD wristband 4. Disconnect wires between Base joint and Shoulder joint 2 x red wire = 48V DC 2 x black wire...
Page 18 Shoulder joint – Base joint: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Gently insert Base joint with screws and washers into the Shoulder joint. 2. Make sure the washers are fully inserted and located on the correct side (this is important) before gently twisting the Base joint and Shoulder joint in opposite directions until a mechanical stop is met.
Page 19: Upper Arm - Shoulder Joint
3.1.7 Upper arm – Shoulder joint Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Shut down the controller. 2. Remove blue lid on Shoulder joint. 3. Connect ESD wristband 4. Disconnect wires between Upper arm and Shoulder joint 1 x red wire = 48V DC 1 x black wire...
Page 20 Upper arm – Shoulder joint: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Gently insert Shoulder joint with screws and washers into the upper arm. 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 21: Elbow Joint - Upper Arm
3.1.8 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 3.1.7 Upper arm - Shoulder joint. 3.1.9 Elbow counterpart – Elbow joint Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart...
Page 22 Elbow counterpart – Elbow joint: assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Gently insert Elbow joint with screws and washers into the Elbow counterpart. 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 23: Wrist 1 Joint - Lower Arm
3.1.10 Wrist 1 joint – Lower arm Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 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...
Page 24 Wrist 1 joint – Lower arm: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Gently insert Wrist 1 joint with screws and washers into the lower arm. 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 25: Wrist 2 Joint - Wrist 1 Joint
3.1.11 Wrist 2 joint – Wrist 1 joint Disassemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Shut down the controller. 2. Remove blue lid on Wrist 1 joint. 3. Connect ESD wristband 4.
Page 26 Wrist 2 joint – Wrist 1 joint: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 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 27: Wrist 3 Joint - Wrist 2 Joint
3.1.12 Wrist 3 joint – Wrist 2 joint Disassemble and assemble Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and Wrist 1 joint, consult chapter 3.1.11 Wrist 2 joint – Wrist 1 joint.
Page 28 Tool flange – Wrist 3 joint: Assemble For details and photos please see: 3.1.3 General guidance to separate joint from counterpart 1. Connect ESD wristband 2. Replace tool flange and reconnect connectors as illustrated. Twist the communication wires before they are connected. (To reduce electrical noise in the system) 3.
Page 29: Joint Calibration
3.1.14 Joint calibration After replacement calibration of the new joint is required in order to find the correct zero position. Instructions for calibrating a joint:  Jog robot to HOME position Illustration shows the HOME position, which is defined as zero position of all joints. ...
Page 30  Enter password lightbot and press OK. lightbot  You are now in Expert Mode, press Low Level Control.  Press Turn power on for enabling power to joints. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 31  Press Go to Idle for enabling the joints ready mode.  Select the desired joint by directly clicking the status line for that joint.  Press Arm current joint to release the brake on the selected joint. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 32 Use the Up and Down buttons in the Move window to navigate the joint to the correct zero position according to the following illustrations. Press STOP when the joint is in the correct position.   All rights reserved Servicemanual_UR10_en_3.1.1...
Page 33  Zero position illustrations Base: Shoulder, Elbow, Wrist 1: Base zero position is aligned so that the Shoulder, Elbow and Wrist 1 zero output flange is output flange is offset 180 degree from vertical aligned (if Base if horizontal). the cable in back of robot base. Make sure that base of robot is horizontal, use spirit level to align joints.
Page 34 Select Calibration tab and press Zero current joint position to calibrate the joint.  Press Back to exit Low Level Control.  Press Return to Normal.  Verify zero position by moving the robot to HOME. If not satisfied with the zero position, perform the procedure once again. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 35: Change Joint Id
3.1.15 Change joint ID Each joint has a unique ID no. It is NOT possible to have two joints with the same ID no. on the same robot. Joint Base Shoulder Elbow Wrist 1 Wrist 2 Wrist 3 Example: Wrist 1 (J3) has to be replaced. Spare joint is a Wrist 3 (J5) ...
Page 36  Select J5 (The one to be changed)  Uncheck “Exchange IDs” box  In dropdown box, select ID no. 3  Press Set it  Confirm Change ID  After you have turned power on you can see the joint J5 has changed to J3. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 37: Controller
3.2 Controller 3.2.1 Handling ESD-sensitive parts To prevent damage to ESD-sensitive parts, follow the instructions below in addition to all the usual precautions, such as turning off power before removing logic cards: Keep the ESD-sensitive part in its original shipping container. (a special "ESD bag") until the part is ready to be installed Put the ESD wrist strap on your...
Page 38 Step 2: Step 1: Take NEW board out of ESD bag. Put OLD board into spare ESD bag. Hold the ESD-sensitive part by its edges; do not touch its pins. If a pluggable module is being removed, then use the correct tool. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 39 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 Machine covers and metal tables are electrical grounds.
Page 40 Prevent ESD-sensitive parts from being accidentally touched by other personnel and do not put unprotected ESD-sensitive parts on a table. Be extra careful in working with ESD-sensitive parts when cold-weather and heating is used because low humidity increases static electricity. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 41: Replacement Of Motherboard
3.2.2 Replacement of motherboard Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How to replace motherboard in Controller box  Shut down the controller and disconnect the power cable, open the controller cabinet and loosen the 3 Torx screws ...
Page 42  Disconnect cable connections from motherboard: 2x RJ45 network cables Black USB cable DVI-cable Black cable for RS232-connection White plug with white, brown, yellow and green wires All rights reserved Servicemanual_UR10_en_3.1.1...
Page 43  Remove the 4 screws from the 2 holding brackets NB! Ethernet cable to Safety control Board  Replace Motherboard with new one  If controller is equipped with long-hole brackets, make sure to replace them with circular-hole brackets. Tighten the 4 screws gently ...
Page 44: Replacement Of Safety Control Board
3.2.3 Replacement of Safety Control Board Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How to replace Safety Control Board in Controller box  Shut down the controller and disconnect the power cable, open the controller cabinet and loosen the 5 Torx screws ...
Page 45  Carefully remove all plugs and connectors (it is recommended to mark the cable positions or take a picture of them).  Remove 13 screws holding the Safety Control Board.  Replace Safety Control Board with new one and tighten the 13 screws to hold the board ...
Page 46: Replacement Of Teach Pendant
3.2.4 Replacement of teach pendant Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How to replace Teach Pendant on Controller Note: use the same procedure for power down and removing the aluminum cover plates as in chapter 3.2.2 Replacement of motherboard 3.2.3 Replacement of Safety Control Board ...
Page 47: Replacement Of 48V Power Supply
3.2.5 Replacement of 48V power supply Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How 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 3.2.2 Replacement of motherboard 3.2.3 Replacement of Safety Control Board...
Page 48 Power supplies are located in the rack under the controller module, the two 48V power supplies are the lower ones in the rack. (UR5 have one and the UR10 have two 48V power supplies) Before dismounting the 48V power supply, mark and disconnect the cables from that supply.
Page 49  Replace 48V power supply with new one.  Reconnect the wires for the 48V power supply.  Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the teach pendant.  Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the 5 screws.
Page 50: Replacement Of 12V Power Supply
3.2.6 Replacement of 12V power supply Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How to replace 12V power supply in Controller box Note: use the same procedure for power down and removing the aluminum cover plate and cables for teach pendant as in chapter 3.2.4 Replacement of teach pendant To replace the 12V power supply follow exactly the same steps as for the procedure in chapter...
Page 51: Replacement Of Current Distributor
3.2.7 Replacement of current distributor Take care of ESD handling 3.2.1 Handling ESD-sensitive parts How to replace current distributor in Controller box Note: use the same procedure for power down and removing the aluminum cover plate and cables for teach pendant as in chapter 3.2.4 Replacement of teach pendant ...
Page 52: Software
When updating software from an older version, updates must be installed sequentially. If it ain’t broke, don’t fix it: If a robot is operating in an existing application, Universal Robots do not recommend updating software, unless the use of new functions in a newer software release is required for this application.
Page 53  Press button SETUP Robot.  In left side menu, select UPDATE Robot.  Press button Search for searching after software update on USB-stick.  Select the found software update and press UPDATE.  Press YES to update the software. ...
Page 54: Update Joint Firmware
 When updating firmware controller power MUST NOT be turned off during update.  Universal Robots can by no means be held responsible for any failed update caused by improper operation. Instructions for updating firmware: Prior to updating firmware, robot software must be updated.
Page 55  Enter password lightbot and press OK. lightbot  You are now in Expert Mode, press Low Level Control.  Press Turn power on to go into BOOTLOADER  Select the Firmware tab, mark All joints and press UPDATE firmware. ...
Page 56 Controller MUST NOT be powered off during this update.  After successful update, press Back.  Back in Expert Mode, press Return to Normal. Firmware has now been updated. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 57: Using Magic Files
4.3 Using Magic files For easy backup, Universal Robots provides Magic files to automatically copy data from controller to USB- stick. These files are available: Function:  URmagic log file copies the entire log history file to USB-stick  URmagic backup programs copies all programs and installation files to USB-stick ...
Page 58: Troubleshooting
5. 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 ...
Page 59 EUROMAP67 uP lost processer B is communicating, connection between Euromap67 or cable between Motherboard and the Motherboard and Euromap Euromap67. b) Exchange is defect Euromap67 CODE_4A7 Communication with If either processor A or a) Check Euromap67 secondary EUROMAP67 uP processer B is communicating, connection between lost Euromap67 or cable between...
Page 60 CODE_4A76 Lost package from tool 1 package lost - warning CODE_4A77 Lost package from uPA to 1 package lost - warning joints CODE_4A78 Lost package from uPA to 1 package lost - warning teach pendant CODE_4A79 Lost package from uPA to uPB 1 package lost - warning CODE_4A80 Lost package from uPB...
Page 61 CODE_10A101 PC packet received too early Eventually update the software CODE_10A102 Packet counter does not Eventually update the match software CODE_10A103 PC is sending packets too Eventually update the often software CODE_11 Bad CRC error Serial communication problem Check black 2-wire with joint connectors and wires in joints.
Page 62 CODE_39 Logic and Temporal Monitoring Fault CODE_39A1 Max current deviation failure CODE_39A2 Max joint-encoder speed exceeded CODE_39A3 Max motor-encoder speed exceeded CODE_39A4 Illegal state change in joint detected CODE_39A5 Too fast state change in joint detected CODE_39A6 5V regulator voltage too low Replace joint CODE_39A7 5V regulator voltage too high...
Page 63 CODE_48 Powerbus voltage drop Error on 48V powerbus to robot Check 48V output from detected. PSU. Check current- distributor PCB. Replacement of 48V PSU or current-distributor is necessary CODE_49 RS485 receive warning CODE_49A200 Secondary RS485 bus is down Bus for: Teach Pendant, Check TCP/IP-12V cable to Processor A and Processor B on Teach Pendant...
Page 64 CODE_50A27 12V, 3V3 or ADC error (12V too high) CODE_50A28 12V, 3V3 or ADC error (12V too low) CODE_50A29 Analog I/O error (-12V too high) CODE_50A30 Analog I/O error (-12V too low) CODE_50A31 The other safetySYS do not initialize CODE_50A80 Last CPU reset caused by Low- Power-Reset CODE_50A81...
Page 65 CODE_55 Safety system error Safety system malfunction Check Motherboard, Safety Control Board, Screenboard, Current distributor( Euromap, if installed ). Bypass safety connections to I/O- interface of Safety Control Board CODE_55A23 Safety relay error (minus Current distributor error Fault: Cable SCB-Current connection) distributor or 48V Power supply or Current...
Page 66 readings differ CODE_55A120 Robot current is too high while emergency stopped CODE_55A121 Robot current is too high while safeguard stopped CODE_56 Overvoltage shutdown Voltage exceeded 55V Check Energy Eater. Cable to Energy eater, Replace Energy Eater CODE_57 Brake release failure Check Brake, solonoide, Payload, TCP and Mount CODE_57A1...
Page 67 1 PSU active, but we expect 2 PSU was not able to deliver 48V Check power connection (UR10) or UR10 flash card in UR5 robot between power supply and Safety Control Board and check that the flash card and robot match...
Page 68 CODE_102 Real Robot not connected - Simulating Robot CODE_103 UR Ethernet Error Comm. Prob. between Mother Check cable Board and Safety Control Board CODE_103A1 3 packages in a row lost from Safety Control Board CODE_104 Error=Empty command sent to robot CODE_111 Something is pulling the robot Check Payload setting...
Page 69 CODE_191A11 Emergency stop output Software problem violation CODE_191A12 Momentum limit violation CODE_191A13 Robot moving output violation CODE_191A14 Robot is not braking in stop mode CODE_191A15 Robot is moving in stop mode CODE_191A16 Robot did not stop in time CODE_191A17 Received a null vector for TCP Fault in config file, when no GUI orientation is used...
Page 70 CODE_192A8 Joint torque disagreement Reduce payload, check for encoder problems CODE_192A9 TCP speed disagreement Reduce payload, check for encoder problems CODE_192A10 TCP position disagreement Reduce payload, check for encoder problems CODE_192A11 TCP orientation disagreement Reduce payload, check for encoder problems CODE_192A12 Power disagreement Only in joint...
Page 71 CODE_192A36 Online RAM test failed CODE_192A37 Not all safety related functionalities are running CODE_193 One of the nodes is in fault SCB has detected an error See previous error mode CODE_193A0 Joint 0 SCB has detected an error See previous error CODE_193A1 Joint 1 SCB has detected an error...
Page 72 CODE_200A7 Watchdog reset the processor SCB: uP-A has detected an error CODE_200A8 OVG signal test not passed SCB: uP-A has detected an Replace Safety Control error: over voltage generator Board (SCB) CODE_200A9 3V3A power good pin is low SCB: uP-A has detected an error Replace Safety Control Board (SCB) CODE_200A10...
Page 74: Led Indicators On Safety Control Board
5.2 LED indicators on Safety Control Board Safety Control Board (SCB)  12V-PSU On when the power plug is connected.  System: On when the power on has been activated  On when “12 V System” is on and indicate that 5 V is ok. ...
Page 75: Error Phenomena
5.3 Error phenomena 5.3.1 ControlBox: NO CONTROLLER displayed in Initializing ControlBox = NO CONTROLLER displayed at INITIALIZING screen Replace ethernet cable between motherboard Defective ethernet cable and Safety Control Board and verify problem is solved Replace Safety Control Board and verify problem Defective Safety Control is solved Board...
Page 76: Cable Displayed During Power Up
5.3.2 NO CABLE displayed during power up NO CABLE displayed during power up > controller shuts off after few seconds Measure that 230V AC is present on power input Replace current distributor connector on 12V power supply Check that 12V PSU LED is lid. The top LED in the Replace 12V power supply row in the right side of the Safety Control Board During power up (within first few seconds) check...
Page 77: Force Limit Protective Stop
5.3.3 Force limit protective stop Force Limit Protective Stop Payload and tcp settings in Installation\TCP Adjust payload and tcp Configuration must correspond with actual tool. settings Are settings incorrect? Adjust center of mass using Is center of mass very different from tcp point? script code set_payload() Are waypoints positioned very close to cylindrical Adjust waypoints away...
Page 78: Power On Failure In Initializing
5.3.4 Power on failure in Initializing If power turns off a few seconds after Robot Power is turned On in the Initializing window, there are many possible causes for this phenomenon. Most likely it is a control box failure or a communication failure with a joint or the tool. Control box failure Check log history for error messages and consult the section Error Codes for detailed explanation...
Page 79 Communication failure with a joint or the tool connector Check log history for error messages and consult the section Error Codes for detailed explanation Go to LOW LEVEL CONTROL in EXPERT MODE (consult chapter 4.2 for how to access EXPERT MODE) Unmount tool and check Go to tab POWER ON/OFF and press TURN...
Page 80 Continued Go to tab POWER ON/OFF and press TURN Remove blue lid of joint and POWER ON. Does state of all joints J0-J5 switch check black comm. from BROKEN COMM. ERROR to READY? connector is fully inserted Does state of joint switch to READY? Communication ok to joints and tool Replace joint...
Page 81: Checklist After A Collision
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. Remove lid and inspect Are any parts visually damaged, like damages on parts inside of joint...
Page 82: Electrical Documentation
5.4 Electrical documentation 5.4.1 Schematic overview Diagrams in pdf or in E-plan format, can be found on our support platform under the download section. All rights reserved Servicemanual_UR10_en_3.1.1...
Page 100: Spare Parts
Item no. Item designation Controller: 122910 Controller incl. Teach Pendant UR10 122950 Controller excl. Teach Pendant UR10 122091 Teach Pendant incl. Touch Screen & power cable UR5 & UR10 180001 Stylus Pen 171021 Flash card 122600 Motherboard kit 172290 Safety Control board kit...
Page 101: Service Kit
Bracket for Mounting Teach Pendant 132407 Bracket for Mounting Controller 107000 Safety Control board Terminal Kit 131510 Bracket for mounting robot arm UR10 (Item & Bosch profile) 6.2 Service kit Item no. Item designation 109010 Service kit UR5/UR10 (kit includes all of the below part no.’s) 109101 Spanner Hex 5.5mm...
Page 102: Packing Of Robot
7. Packing of robot Packing of robot and controller box for shipment  Remove any external tooling and external electrical connections.  Load program Put_into_box_ur10.urp and follow instructions while removing mounting bolts. While robot folds together, hold a piece of bubble wrap between Shoulder joint and wrists. Note: If robot cannot run or power is not available, it is possible to manually release the brakes for each joint individually and pack the robot accordingly.
Page 103: Change Log
Change log 8.1 Change log Date Revision Action Changes 3. May 2014 UR10_en_3.0 Added First revision 3.0 released 19. June 2014 UR10_en_3.0.1 Changed Pictures and illustrations changed to match 3. gen. robot 11. July 2014 UR10_en_3.0.2 Changed Error codes, Spareparts changed to match 3. Gen robot and ESD handling added 20.

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