Program Correction By Key Waypoints; Control Box; Dismantling The Control Box - Universal Robots UR20 Service Manual

4.2.7. Program Correction by Key Waypoints

Program Correction by Key Waypoints helps adjusting programs waypoints when a program is
moved from an uncalibrated robot to another. The technique can also be used to make programs
work after replacements of joints.
Please refer to the Calibration Manual from the Universal Robots Support site
s.com/support/ for detailed description on how to use this feature.
NOTICE
Program Correction by Key Waypoints does not currently support the following:
- Other types of waypoints with the exception fixed waypoints.
- Move node with Use Joint Angles selected.
The unsupported program nodes above may need to be corrected manually after
the Program Correction by Key Waypoints process is complete.

4.3. Control Box

4.3.1. Dismantling the Control Box

WARNING: ELECTRICITY
Failure to completely shut down the Control Box before replacing any components
can lead to serious injury due to electrical hazards.
• Before replacing ANY components inside the Control Box, you MUST do a
complete shutdown.
• Follow the first 3 steps in section
CAUTION
Failure to exercise caution when handling ESD sensitive parts can increase the risk
of injury. See section 2.
• Exercise caution when handling ESD sensitive parts
• If possible, lay the Control Box on its back while working on it.
To Dismantle the Control Box:
The illustrations below can differ from actual hardware design.
1. Power off Control Box – follow step 1 to 3 in section
2. Remove all the I/O Terminals, the Fuse, SD-card and any other I/O etc. that may be
connected.
Service Manual
Complete Rebooting Sequence
Handling ESD-Sensitive Parts
25
www.universal-robot-
Complete Rebooting Sequence
UR20