Table Of Contents - Universal Robots UR20 Service Manual

Contents
1. Introduction
1.1. About This Document
1.2. Company Details
1.3. Copyright and disclaimers
1.4. Safety Message Types
2. Handling ESD-Sensitive Parts
3. Recommended Inspection Activities
3.1. Robot Arm
3.1.1. Inspection Plan
3.1.2. Visual Inspection: Robot arm
3.1.3. Functional Inspection
3.1.4. Cleaning your robot
3.2. Control Box and Teach Pendant
3.2.1. Inspection Plan
3.2.2. Functional and Safety Inspection
3.2.3. Visual Inspection: Control Box
3.2.4. Cleaning
4. Service and Replacement of Parts
4.1. Pre-Use Assessment
4.1.1. Recommended Tools
4.2. Robot Arm
4.2.1. Connection Torque Values
4.2.2. Clamp Connection
4.2.3. Tool Flange
4.2.4. Replacement of Trim Plates
4.2.5. Joint Verification
4.2.6. Dual Robot Calibration
4.2.7. Program Correction by Key Waypoints
4.3. Control Box
4.3.1. Dismantling the Control Box
4.3.2. Torque Values
4.3.3. Replacing the 3PE Teach Pendant
5. Software
Service Manual
1
1
1
1
2
4
6
6
6
6
8
8
8
8
9
11
11
12
12
13
14
15
17
21
23
24
24
25
25
25
26
27
29
UR20