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Inspection And Maintenance Plan

Advised inspections, maintenace and its frequency to be done at your cobot

Last modified on Nov 04, 2024

Recommended Inspection And maintenance activities for your cobot

1 Robot Arm

1.1 Inspection Plan

In addition to inspection, a Universal robots cobot consists of many moveable wear parts and therefore, Universal Robots recommend a service check at one of our 3 regional service centers, in subsequently, Denmark, USA, and China, at least bi-annually. Log in to MyUR and post a ticket, for a quote regarding inspection and diagnostic: https://myur.universal-robots.com/

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. 

e-Series

 

UR20/UR30

 

1.2 Visual Inspection

NOTICE: Never use compressed air to clean the Robot Arm as it can damage components. Do not store a robot for more than 6 months without performing a visual inspection. 

  1. Move the Robot Arm to ZERO position, if possible.
  2. Turn off and disconnect the power cable from Control Box.
  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.
    • Replace the flat rings if they are worn out or damaged. Note: Flat rings are external parts, that are all exposed to the same operating environment. Therefore Universal Robots recommend replacing all flat rings of one or more has been deemed worn or damaged.
    • For new lids spare part please refer to sealing set, UR20/UR30 or sealing, external(e-Series) or Flat ring sealing set(CB3) for the respective robot type, in the Universal Robots spare part catalog: https://www.universal-robots.com/download/service-documentation/universal-robots-spare-part-catalog/ 
    • If any there are any signs of lubrication leakage do to a worn of broken sealing ring, this can be wiped off and sealings replaced. It does not have any effect on the robots overall performance.    
  7. Inspect the blue lids on all the joints for any cracks or damage.
  8. Inspect the screws used for the blue lids are in place and properly tightened.

NOTICE: If any damage is observed on a robot within the warranty period, contact the distributor where the robot was purchased.

1.3 Functional Inspection

The purpose of the functional inspection is to ensure that screws, bolts, tools and robot arm are not loose. The screws/bolts mentioned in the inspection plan should be checked with a torque wrench with the correct torque, specified in 4.1.4 Torque values.
For the robot arm mounting bolts, these specifications can be found in the User Manual under the Mounting section.

1.4 Cleaning

You can wipe away any dust/dirt/oil observed on the Robot Arm using a cloth and one of the following cleaning agents: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10% Naphtha. If the robot is operating in a harsh environment, for example in cutting fluid, coolant, etc. Universal Robots do recommend regular cleaning or flat ring replacement. 

DO NOT USE BLEACH. Do not use bleach in any diluted cleaning solution. 

In rare cases, very small amounts of grease can be visible from the joint. This does not affect the function, use, or lifetime of the joint.

Please refer to the following article for full explanation on cleaning your robot parts: https://www.universal-robots.com/articles/ur-articles/cleaning-of-robot-arm/

2 Control Box and Teach Pendant

2.1 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

2.2 Functional and safety inspection

NOTICE: Robot safety functions is highlight recommended be tested monthly to ensure correct function.

Emergency Stop button on the Teach Pendant:

  1. Press the Emergency Stop button on the Teach Pendant.
  2. Observe the robot stops and shuts off power to the joints.
  3. Power on robot again.

Freedrive Mode:

  1. Unmount attachment or set TCP/Payload/CoG according to tool specifications.
  2.  On a standard Teach Pendant, press and hold the Freedrive button. On a 3PE Teach Pendant, rapidly light-press, then light-press-and-hold the 3PE button. 
  3. Move the robot to a horizontally elongated position and release.

    4.Verify the robot can maintain its position when not being held with the Freedrive button still pressed.

Backdrive Mode:
If the robot is close to colliding with something, you can use the Backdrive function to move the Robot Arm to a safe position before initializing.

  1. Press ON to enable power. Status changes to Robot Active

    2.Press and hold Freedrive. Status changes to Backdrive

    3. Move robot as in Freedrive mode. Joint brakes are released where needed once the Freedrive button is activated.

NOTICE: In Backdrive Mode the robot is “heavy” to move around.

MANDATORY ACTION: You must test Backdrive mode on all joints.

Safety settings: Verify the robot safety settings comply with the robot installation risk assessment.

Additional safety inputs and outputs are still functioning: Check which safety inputs and outputs are active and that they can be triggered via PolyScope or external devices.

Date and clock: Check that the date and clock is correct in the Log tab. Incorrect date and clock suggest that CMOS battery is running low. The CMOS battery has a long shelf life of up to 10 years.

Backup data: See how to Backup data on the service manual

2.3 Visual Inspection

  1. Disconnect the power cable from Control Box.
  2. Check the Control Board terminals are properly inserted and do not have loose wires
  3. Check for any dirt/dust inside Control Box. Clean with ESD vacuum cleaner if needed.

NOTICE: Never use compressed air to clean inside the Control Box as it can damage components

2.4 Cleaning

Teach Pendant

It may become necessary to clean the Teach Pendant screen. A standard mild industrial cleaning agent without a thinning agent or any aggressive additives is recommended. Do not use an abrasive material to wipe down the screen. Universal Robots does not promote a specific cleaning agent.

Control Box

Control box contains two filters, one on each side of Control Box.

  1. Gently remove the outer plastic frame, by pulling where the red arrows are shown. The frame will tilt out.
  2. Remove the filter to clean it. Clean using low pressure air or replace filters if necessary. Remember to clean each side. Replace if it is very dirty and damaged. Please refer to Controller filter 5 pcs.(e-Series) or Filter kit for controller (incl. two filters) (CB3)  in the Universal Robots spare part catalog: https://www.universal-robots.com/download/service-documentation/universal-robots-spare-part-catalog/

   3. Listen to the fan when running, if it sound abnormal, contact your service provider or replace.  

 

For the complete version please refer to the download section under Service Manual

Attached files