Universal Robots Ur3 Manuale utente

Service Manual

"Original instructions"

Revision:

UR3_en_3.2.7

Robot:

UR3 with CB3.1/3.2 - controller

CB3.1 valid from robot s/n 2014330001 to 2019330944

CB3.2 valid from robot s/n 2019330945

Valid from robot s/n: 2014330001

1.Service Manual

The information contained herein is the property of Universal Robots A/S and shall

not be reproduced in whole or in part without prior written approval of Universal

Robots A/S.

The information herein is subject to change without notice and should not be

construed as a commitment by Universal Robots A/S. This manual is periodically

reviewed and revised.

Universal Robots A/S assumes no responsibility for any errors or omissions in this

document.

The Universal Robots logo is a registered trademark of Universal Robots A/S.

2.Content

1.Service Manual 2

2.Content 3

3.General information 1

3.1. Purpose 1

3.2. Company details 1

3.3. Disclaimer 1

3.4. Warning Symbols in this Manual 2

4.Recommended Inspection Activities 3

4.1. Controller 3

4.1.1. Inspection plan 3

4.1.2. Safety Functions 4

4.1.3. Visual inspection 5

4.1.4. Cleaning and replacement of filters 5

4.2. Robot arm 10

4.2.1. Inspection plan 10

4.2.2. Functional inspection 10

4.2.3. Visual inspection 11

5.Service and Replacement of Parts 12

5.1. Handling ESD Sensitive Parts 12

5.1.1. Recommended Tools 15

5.2. Robot Arm 16

5.2.1. Before returning any part to Universal Robots 16

5.2.2. Robot Arm Configuration 17

5.2.3. Brake Release 17

5.2.4. General Guidance to Separate Joint from Counterpart 18

5.2.5. Torque values 25

5.2.6. Base joint – Base mounting bracket 27

5.2.7. Shoulder joint – Base joint 29

5.2.8. Upper arm – Shoulder joint 30

5.2.9. Elbow counterpart – Elbow joint 32

5.2.10. Wrist 1 joint – Lower arm 33

5.2.11. Wrist 2 joint – Wrist 1 joint 35

5.2.12. Wrist 3 joint – Wrist 2 joint 37

5.2.13. Tool flange – Wrist 3 joint 37

Service Manual UR3

5.2.14. Instructions for Calibrating a Joint 40

5.2.15. Dual Robot Calibration 46

5.2.16. Change joint ID 46

5.2.17. Joint Spare Part Adaptation 48

5.2.18. Modify Wrist 3 to Wrist 1 or Wrist2 49

5.2.19. Wire bundle installation guide 51

5.3. Controller 61

5.3.1. Replacement of Motherboard 3.1 61

5.3.2. Replacement of Safety Control Board 63

5.3.3. Replacement of Teach Pendant 66

5.3.4. Replacement of 48V power supply 70

5.3.5. Replacement of 12V power supply 76

5.3.6. Replacement of Current distributor 77

6.Software 79

6.1. Update software 79

6.2. Update joint firmware 81

6.3. Using Magic files 83

6.4. Backup of data 84

6.4.1. Hardware Requirements 84

6.4.2. Software Requirements 85

6.4.3. How to Access Linux Partition from Windows 85

6.4.4. Copy the data from CF-card to UR-USB 86

7.Troubleshooting 93

7.1. Error codes 93

7.2. LED indicators and Fuses on Safety Control Board 198

7.3. Normal startup sequence for a CB3.x UR3 199

7.4. Error phenomena 200

7.4.1. Control Box: NO CONTROLLER displayed in Initializing 200

7.4.2. NO CABLE displayed during power up 201

7.4.3. Protective stop 202

7.4.4. Power on failure in Initializing 204

7.4.5. Checklist after a collision 205

7.4.6. Communication to joints and tool 206

7.4.7. Complete rebooting sequence. 207

7.5. Electrical drawing 208

7.6. E-Plan diagrams 212

UR3 Service Manual

8.Spare Parts 219

8.1. Robot arm 219

8.2. Controller 221

8.3. Tools 222

9.Packing of robot 224

10.Change log 225

Service Manual UR3

UR3 Service Manual

3.General information

3.1. Purpose

The main purpose of this manual is to help the user safely perform service-related operations

and troubleshooting.

Universal Robots industrial robots are designed using high quality components to ensure a long

lifetime.

However, any improper use of robot can potentially cause failures. If for example, the robot is

overloaded, run with a load not recommended by Universal Robots, dropped during relocation,

damaged by collision or any other improper usage, the warranty will be void.

Universal Robots recommends that the user does not attempt repair, adjustment or other

intervention in the mechanical or electrical systems of the robot without first consulting a UR

certified service engineer. Any unauthorized intervention will void the warranty. Service-related

operations and troubleshooting should only be performed by qualified personnel.

Before performing service-related operations, always make sure to stop the robot program and

disconnect the main power to any potential dangerous tool on the robot or in the work cell.

In the event of a defect, Universal Robots recommends ordering new parts from the Universal

Robot distributor where the robot was purchased from.

Alternatively, parts can be ordered from the nearest distributor, details of which can be obtained

from Universal Robots official website at www.universal-robots.com

3.2. Company details

Universal Robots A/S

Energivej 25

DK-5260 Odense Denmark

Tel.: +45 89 93 89 89

Fax: +45 38 79 89 89

3.3. Disclaimer

Universal Robots continues to improve reliability and performance of its products, and therefore

reserves the right to upgrade the product without prior warning. Universal Robots takes every

care that the contents of this manual are precise and correct, but takes no responsibility for any

errors or missing information.

Service Manual 1 UR3

3.General information

3.4. Warning Symbols in this Manual

DANGER, WARNING, CAUTION, NOTICE and SAFETY INSTRUCTION statements are used

throughout this manual to emphasize important and critical information.

You MUST read these statements to help ensure safety and to prevent product damage.

The statements are defined below.

DANGER

These warnings mean a hazardous situation which, if not avoided, will result in

death or serious injury.

WARNING

These warnings mean a hazardous situation which, if not avoided, could result in

death or serious injury.

CAUTION

These warnings mean a hazardous situation which, if not avoided, could result in

minor or moderate injury.

NOTICE

These warnings mean damage to property may occur if no precautions are taken.

CAUTION

This warning sign contain references to safety-relevant information or general

safety measures.

This warning sign do not refer to individual hazards or individual precautionary

measures.

UR3 2 Service Manual

3.General information

4.Recommended Inspection Activities

It is recommended to perform preventive maintenance on the control box and

robot at least once per year. In case of use in dirty or dusty environments it is

recommended to increase the frequency.

In case dust/dirt/oil is observed on the controller or robot arm, it can be wiped away using a cloth

with cleaning agent. Cleaning agent: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10%

Naphtha.

In very rare cases, very small amounts of grease can seep from the joint. This does not affect

the specified function or lifetime of the joint.

NOTICE

Never use compressed air to clean the controller or robot arm as it can damage

the seals and internal components

4.1. Controller

4.1.1. Inspection plan

Set forth below is a check list of inspections that Universal Robots recommends be performed

according to the marked time interval. If upon inspection, the referenced parts are not in an

acceptable state, please rectify immediately.

Service Manual 3 UR3

4.Recommended Inspection Activities

Use the following sections as guide:

2.1.2 Safety Functional

2.1.3 Visual Inspection

3.2 Control Box

Monthly Bi-annually Annually

Check Emergency stop on Teach Pendant F X

Check Backdrive mode F X

Check Freedrive mode F X

Check safety inputs and outputs

(if connected) F X

Check Teach Pendant cable V X

Check and clean air filters on Control Box V X

Check terminals in Control Box F X

Check electrical grounding 1< Ω to Control Box F X

Check main power to Control Box F X

V = Visual inspection F = Functional inspection

4.1.2. Safety Functions

The robot safety functions must be tested at least once a year to ensure correct function. The

following tests must be performed.

• Backup data from the storage device - See section 4.4 Backup of data

• Test that the Emergency Stop button on the Teach Pendant functions:

• Press the Emergency Stop button on the Teach Pendant.

• Observe that the robot stops and turns off the power to the joints.

• Power on robot again.

• Test Freedrive mode:

• Unmount attachment or set TCP/Payload/CoG according to tool specifications.

• Set the robot in Free drive mode by holding the black Freedrive button on the back of

the Teach Pendant.

• Move the robot to a position stretched out horizontally to the edge of its workspace.

• Monitor that the robot maintains its position unsupported while the Freedrive button

is still pressed.

• Test Backdrive mode:

If the robot is close to collision, the BACKDRIVE function can be used to move the robot to

a safe position before initializing.

• Press ON to enable power, state will change to Idle.

• Press and hold Freedrive -> status will change to BACKDRIVE.

• Move the robot by hand as in Freedrive.

UR3 4 Service Manual

4.Recommended Inspection Activities

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