Universal Robots UR20 PolyScope X User Manual page 105

14. Maintenance and Repair
1. Move the Robot Arm to ZERO position, if possible.
Robot Arm
Inspection
2. Turn off and disconnect the power cable from Control Box.
Plan
3. Inspect the cable between Control Box and Robot Arm for any damage.
4. Check the base mounting bolts are properly tightened.
5. Check the tool flange bolts are properly tightened.
6. Inspect the flat rings for wear and damage.
1. Unmount any tool/s or attachment/s or set the TCP/Payload/CoG according to tool
Inspection
2.
3. Pull/Push the robot to a horizontally elongated position and release.
4. Verify the robot arm can maintain the position without support and without activating
User Manual
• Replace the flat rings if they are worn out or damaged.
NOTICE
If any damage is observed on a robot within the warranty period, contact
the distributor where the robot was purchased.
specifications.
To move the robot arm in Freedrive:
•
On a 3PE Teach Pendant, rapidly light-press, release, light-press again and
keep holding the 3PE button in this position.
Power button
Freedrive.
3PE button
105 UR20 PolyScope X