Related Manuals for Universal Robots UR-6-85-5-A
Summary of Contents for Universal Robots UR-6-85-5-A
- Page 1 Service Manual for: UR-6-85-5-A Serial numbers from and including: 2010200093 (Robot Arm) Version: 2011-R01 Side 1 af 26 UR-FK 2011...
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Page 2: Table Of Contents
Table of Contents Background ....................... 3 Purpose ......................3 Lubricating joints using special grease ..............4 Procedure ...................... 4 Procedure ...................... 7 Removing the joint gaskets ................8 Assembling the joint ..................10 Fitting the gaskets ..................12 Fitting the wires .................... 13 Replacing the tool flange ................... -
Page 3: Background
Any unauthorised intervention will invalidate the guarantee. In the event of a defect, Universal Robots recommends ordering a new component from the Universal Robots dealer who supplied the robot. Alternatively, you can order... -
Page 4: Lubricating Joints Using Special Grease
Lubricating joints using special grease To ensure that the gears function correctly and have the optimum life, only special grease supplied by Universal Robots must be used. This special grease is manufactured by Harmonic Drive AG specifically for use in the gears. - Page 5 Please note that there should be no grease in the screw holes closest to the robot’s upper arm and lower arm tubes: Screw (x2) on the upper arm not suitable for topping up grease. Screw on the lower arm not suitable for topping up grease. Side 5 af 26 UR-FK 2011...
- Page 6 Size 3 joints are the three large joints that form the robot’s elbow, shoulder and base. Size 1 and size 3 joints, like other spare parts and tools, may be ordered from Universal Robots. IMPORTANT Please indicate which joint is being replaced when ordering. The joints are pre- programmed and must be fitted to the robot in a specific position.
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Page 7: Procedure
Procedure The robot must always be disconnected from the power supply before any work is carried out on the robot’s mechanical components. Turn off the robot using the touch screen and remove the plug from the socket supplying the robot. Remove the blue plastic cover on the joint using a Torx T10 screwdriver/spanner. -
Page 8: Removing The Joint Gaskets
Removing the joint gaskets The gaskets between the joints, both on size 1 and size 3 joints, is a flatring made of rubber. Carefully remove it, by pulling them out using a small screwdriver and then rolling the gaskets away from the assembly with your fingers. The Teflon ring can then be pushed up into the joint, providing access to the screws holding the joint together. - Page 9 Disassemble the joint by rotating the joints in opposite directions and pulling them away from one another. The screw assembly is shown here on a separated joint in order to show the “screw tracks”, which are the reason why the joints have to be rotated in order to separate them.
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Page 10: Assembling The Joint
Assembling the joint Before assembling the joints, take the flatring which are to be fitted in the seal and push it over the joint. We recommend fitting new gaskets. See the spare parts list on page 18 for item numbers. Adjust the length of the screws so that they stick out by 10-11 mm including washers. - Page 11 It is important that the washers are also pushed through, otherwise the joints may not rotate into place. The grease filling holes must be properly aligned once the joints have been rotated into position. There is a guide groove opposite the grease filling section and it is important that this groove falls into place when the joints are rotated into position.
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Page 12: Fitting The Gaskets
Fitting the gaskets Push the Teflon into place so that it covers the screws. Fit the flatring into the seal by pulling carefully. Side 12 af 26 UR-FK 2011... -
Page 13: Fitting The Wires
Fitting the wires Fit the wires as shown in the image. Size 1: Insert the white connector with the red and black live wire into the pin on the circuit board. Insert the green communications connector into the pin on the circuit board. -
Page 14: Replacing The Tool Flange
Replacing the tool flange The tool flange, like other spare parts and tools, may be ordered from Universal Robots. Tools required: 5,5 mm open-ended spanner, flat model, e.g. USAG 250 N Torx T10 screwdriver Torque wrench with a 5,5mm jaw. The procedure for replacing the tool flange is the same as for replacing a joint –... -
Page 15: Replacing The Base Plate
Replacing the base plate The base plate (including 10 metres of cable), like other spare parts and tools, may be ordered from Universal Robots. Tools required: 7.0 mm open-ended spanner, flat model, e.g. USAG 250 N Torx T10 screwdriver ... - Page 16 Check whether the wires have got caught up during assembly. Tighten the screws in the base plate to 1.2 Nm initially and then to 2.4 Nm. Side 16 af 26 UR-FK 2011...
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Page 17: Replacement Of Encoder
Exchange of encoders: Exchange of new encoder type Fixture for Jointencoder size1. Fixture for jointencoder size3. Side 17 af 26 UR-FK 2011... - Page 18 Encoder kit Joint size 1. Encoder kit Joint size 3. Side 18 af 26 UR-FK 2011...
- Page 19 Exchange of encoders Disconnect power Blue cap has to be removed Dismounting of plugs Dismantle encoder. The bracket that the encoder is mounted on Is replaced with the new type. Remove hub with encoder disk Mount New hub, mount new encoder disk, Shim / End slices is to be mounted with "UR marks up"...
- Page 20 Fixture is to be put on so the correct distance is achieved, tighten the screws but not too much. Tighten Hexagonscrews 5 NM ,remove fixture, mount aluplate and blue cap . Then the joint/-s that have had new encoder must be reset, have new firmware update and be initialized.
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Page 21: Service On The Fan Filter
Service on the fan filter In exposed factory environments it may be need to clean or replace fan filter of the controller box. Pull out the plastic of the filter to snap it off. Change the filter or use a compressor to clean it (See list of spare parts) Side 21 af 26 UR-FK 2011... -
Page 22: Spare Parts List
Spare parts list Item number Item designation 08001 Flexolub grease, 1 kg 03011 Screw for grease hole, size 1 joint 03013 Screw for grease hole, size 3 joint 04101 Plastic cover for size 1 joint, includes screws and gaskets 04103 Plastic cover for size 3 joint, includes screws and gaskets 02050 Base plate complete with 6 metres of cable and connectors... - Page 23 Tools Item number Item designation 09001 Open-ended spanner 5,5mm, USAG 250N 09002 Open-ended spanner 7.0mm, USAG 250N 09010 Torx screwdriver, T10 09020 Torx spanner, T10 09050 Torque wrench with 5.5 mm and 7.0 mm open-ended spanners. 09060 Nozzle for greasegun 09061 Greasenipple 00000...
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Page 24: Packing Of The Robot For Shipment
Packing of the UR-robot Packing of robotic arm for shipment: Use the program ”PUT INTO BOX” which is on the controller 1. Load the program ”Put_into_box2.urp” on the controller. 2. Remove first screw in base, press Continue. 3. Remove second screw in base, press Continue. 4. - Page 25 Side 25 af 26 UR-FK 2011...
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Page 26: Own Notices
Own notes Date Initials Note Side 26 af 26 UR-FK 2011...
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