Service And Replacement Of Parts; Pre-Use Assessment - Universal Robots UR30 Service Manual

4. Service and Replacement of Parts
4. Service and Replacement of Parts

4.1. Pre-Use Assessment

The tests and verifications, listed below, must all be conducted before using the robot for the first
time or after any modifications are made.
• Verify all safety inputs and outputs are correctly connected.
• Test all connected safety inputs and outputs, including devices common to multiple
machines or robots, are functioning.
• Test that emergency stop buttons and input stop the robot and engage brakes.
• Test that safeguard input stop the robot motion. If safeguard reset is configured, check that
it needs to be activated before motion can be resumed.
• Examine the initialization screen to test that reduced mode can switch the safety mode to
reduced mode.
• Test that the operational mode switches the operational mode, see icon in top right corner of
user interface.
• Test that the 3-position enabling device must be pressed to enable motion in manual mode
and that the robot is under reduced speed control.
• Test that System Emergency Stop outputs are actually capable of bringing the whole system
to a safe state.
• Test that the system connected to Robot Moving output, Robot Not Stopping output,
Reduced Mode output, or Not Reduced Mode output can actually detect the output changes
Read Section 9 to learn how to pack down and ship the robot and/or spare parts.
Shipping of Robot/Spare Parts
Service Manual 17
Packing and
UR20