Service Manual UR10 En 3.1.3

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Service Manual
Revision UR10_en_3.1.3
"Original instructions"

Robot:
UR10 with CB3.0/3.1-controller

CB3.0 valid from robot s/n 2014300001 to 2016301178
CB3.1 valid from robot s/n 2016301179

Contents
1.

General information ................................................................................................................................ 4
1.1 Purpose.............................................................................................................................................. 4
1.2 Company details ................................................................................................................................ 5
1.3 Disclaimer .......................................................................................................................................... 5

2 Preventive Maintenance ................................................................................................................................ 6
2.1 Controller .......................................................................................................................................... 6
2.1.1 Inspection plan, Safety Functions ........................................................................................ 6
2.1.2 Visual inspection .................................................................................................................. 8
2.1.3 Cleaning and replacement of filters ..................................................................................... 8
2.2 Robot arm.......................................................................................................................................... 9
2.2.1 Visual inspection .................................................................................................................. 9
3. Service and Replacement of parts ............................................................................................................... 10
3.1 Robot arm........................................................................................................................................ 10
3.1.1 Before returning any part to Universal Robots .................................................................. 10
3.1.2 Robot arm configuration ................................................................................................... 11
3.1.3 Brake release...................................................................................................................... 12
3.1.4 General guidance to separate joint from counterpart ...................................................... 13
3.1.5 Torque values ..................................................................................................................... 17
3.1.6 Base joint – Base mounting bracket .................................................................................. 18
3.1.7 Shoulder joint – Base joint ................................................................................................. 20
3.1.8 Upper arm – Shoulder joint ............................................................................................... 22
3.1.9 Elbow joint – Upper arm .................................................................................................... 24
3.1.11 Wrist 1 joint – Lower arm ................................................................................................ 26
3.1.12 Wrist 2 joint – Wrist 1 joint .............................................................................................. 28
3.1.13 Wrist 3 joint – Wrist 2 joint .............................................................................................. 30
3.1.14 Tool flange – Wrist 3 joint ................................................................................................ 30
3.1.15 Instructions for calibrating a joint .................................................................................... 32
3.1.16 Dual Robot calibration ..................................................................................................... 40
3.1.17 Change joint ID ................................................................................................................. 41
3.1.18 Joint spare part adaptation .............................................................................................. 42
3.2 Controller ........................................................................................................................................ 44
All rights reserved

Servicemanual_UR10_en_3.1.3

3.2.1 Handling ESD-sensitive parts ............................................................................................. 44
3.2.2 Replacement of motherboard 3.0 ..................................................................................... 48
3.2.3 Replacement of motherboard 3.1 ..................................................................................... 51
3.2.4 Replacement of Safety Control Board ............................................................................... 54
3.2.5 Replacement of teach pendant.......................................................................................... 57
3.2.6 Replacement of 48V power supply .................................................................................... 59
3.2.7 Replacement of 12V power supply .................................................................................... 62
3.2.8 Replacement of current distributor ................................................................................... 63
4. Software ...................................................................................................................................................... 64
4.1 Update software.............................................................................................................................. 64
4.2 Update joint firmware ..................................................................................................................... 66
4.3 Using Magic files.............................................................................................................................. 69
5. Troubleshooting .......................................................................................................................................... 70
5.1 Error codes ...................................................................................................................................... 70
5.2 LED indicators and Fuses on Safety Control Board ......................................................................... 92
5.3 Error phenomena ............................................................................................................................ 94
5.3.1 ControlBox: NO CONTROLLER displayed in Initializing ...................................................... 94
5.3.2 NO CABLE displayed during power up ............................................................................... 95
5.3.3 Protective stop ................................................................................................................... 96
5.3.4 Power on failure in Initializing ........................................................................................... 97
5.3.5 Checklist after a collision ................................................................................................. 100
5.4 Electrical documentation .............................................................................................................. 101
5.4.1 Schematic overview ......................................................................................................... 101
5.4.2 E-Plan diagrams................................................................................................................ 107
6. Spare parts ................................................................................................................................................ 120
6.1 Spare part list ................................................................................................................................ 120
6.2 Service kit ...................................................................................................................................... 121
7. Packing of robot......................................................................................................................................... 122
8. Change log ................................................................................................................................................. 123

Servicemanual_UR10_en_3.1.3

1. General information

1.1 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 designed for long lifetime.
However any improper use of robot can potentially cause failures. For example, the robot may have been
overloaded or have been dropped on the floor when relocating or have run with a load not recommended
by Universal Robots. Any improper use of the robot will invalidate the guarantee.
Universal Robots recommends that you do not attempt repair, adjustment or other intervention in the
mechanical or electrical systems of the robot unless a problem has arisen. Any unauthorized intervention
will invalidate the guarantee. 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
power supply 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 from where the robot has been purchased.
Alternatively, you can order parts from your nearest distributor, whose details you can obtain from
Universal Robots official website at www.universal-robots.com

Servicemanual_UR10_en_3.1.3

1.2 Company details
Universal Robots A/S
Energivej 25
DK-5260 Odense Denmark
Tel.: +45 89 93 89 89
Fax +45 38 79 89 89

1.3 Disclaimer
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.
Copyright © 2016 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.

Servicemanual_UR10_en_3.1.3

2 Preventive Maintenance
2.1 Controller

2.1.1 Inspection plan, Safety Functions
The safety functions of the robots must be tested at least once a year to ensure correct function. The
following tests must be performed.


Test that the Emergency Stop button on the Teach Pendant functions:
o Press the Emergency Stop button on the Teach Pendant
o Observe that the robot stops and turns off the power to the joints
o Power on robot again



Test Free drive mode:
o Unmount attachment or set TCP/Payload/CoG according to tool specifications
o Set the robot in Free drive mode by pressing the Free drive button on the Teach Pendant
o Move the robot to a position where it is stretched out horizontally
o Monitor that the robot maintains its position when not holding the robot and the Free
drive button still pressed.



Test Back drive mode:
If robot is close to collision, the BACKDRIVE function can be used to move robot arm to safe
position before initializing.
o Press ON to enable power, state will change to Idle.
o Press and hold Freedrive -> status will change to BACKDRIVE
o Move the robot as done in Freedrive, brakes will be released on the joints where it’s
needed but only as long as the Freedrive button is activated. Robot will be “heavy” to move
around.
o Be sure to test this so that all joints have been tested.

Servicemanual_UR10_en_3.1.3



Verify safety settings:
o Verify that the safety settings of the robot comply with the Risk Assessment of the robot
installation
Test that additional safety inputs and outputs are still functioning:
o Check which safety inputs and outputs are active and test that they can be triggered.

Servicemanual_UR10_en_3.1.3

2.1.2 Visual inspection





Disconnect power cable from controller
Check terminals are properly inserted on Safety Control Board
Check all connections on Motherboard and connection between Safety Control Board and
Motherboard
Check for any dirt/dust inside of controller, clean with vacuum cleaner if needed
»
Use a soft cloth. You can add: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10% Naphtha

2.1.3 Cleaning and replacement of filters



Controller box contains two filters, one on each side of controller
Remove filters from controller box and clean them thoroughly using compressed air
o Replace filters if necessary

Gently remove the outer plastic frame and maintain the filter

Servicemanual_UR10_en_3.1.3

2.2 Robot arm

2.2.1 Visual inspection









If you observe dirt/oil on the robot arm you simply clean it with a soft cloth.
Cleaning agent: Water, Isopropyl alcohol, 10% Ethanol alcohol or 10% Naphtha
In very rare cases the grease is from the inside of the joint. There is still enough grease in the gear
for life time you just clean the joint with a cloth.
Move robot arm to HOME position (if possible)
Turn off and disconnect power cable from controller
Inspect cable between controller and robot arm for any damage
Inspect flat rings for wear and damage
»
Replace flat rings if worn out or damaged
Inspect blue lids on all joints for any cracks or damage
»
Replace blue lids if cracked or damaged.
Inspect that screws for blue lids are in place and properly tightened
»
Replace screws, tighten properly if necessary

Correct torque value for screws on blue lids are 0.4Nm
If any damage is observed on a robot within the warranty period, contact the distributor from which the
robot has been purchased.

Servicemanual_UR10_en_3.1.3

3. Service and Replacement of parts
3.1 Robot arm
3.1.1 Before returning any part to Universal Robots



Remove all external non-UR equipment such as grippers, hoses, cables and so on.
Universal Robots cannot be held responsible for damage caused to non-UR equipment mounted on
the robot.
Backup all relevant files before sending the robot/part to UR. Universal Robots cannot be held
responsible for loss of programs, data or files stored in the robot.

Safety notice:
If the robot/part has been in contact with, or working in environments, where dangerous chemicals
or materials are present, the robot must be cleaned before shipment.
If this is not possible, the shipment must be accompanied by an MSDA (Material Safety Data Sheet)
in English and instructions for cleaning the chemicals.
The amount of labor hours needed for cleaning will be billed at the standard rate.
If UR finds the robot/part unsafe to service, UR reserve the right to get the robot/part cleaned or
decline the case and send the part back, at customer’s expense.

Note: Please note that the robot will be updated to newest software/firmware when repaired. New parts
will also be updated to newest version (hardware/software). Therefore, updating PolyScope may be
necessary when new parts are mounted.

Servicemanual_UR10_en_3.1.3

3.1.2 Robot arm configuration
3.1.14 Tool flange – Wrist 3 joint

3.1.13 Wrist 3 joint – Wrist 2 joint
3.1.12 Wrist 2 joint – Wrist 1 joint

3.1.11 Wrist 1 joint – Lower arm

Error! Reference source not found.

3.1.9 Elbow joint – Upper arm

3.1.8 Upper arm – Shoulder joint
3.1.7 Shoulder joint – Base joint

3.1.6 Base joint – Base mounting bracket

Servicemanual_UR10_en_3.1.3

3.1.3 Brake release
If required, the brake on a joint can be released without power connected.
IMPORTANT NOTICE:
 Before releasing a brake, it is extremely important to dismount any dangerous parts to avoid any
hazardous situations.
 If releasing the brake on Base joint, Shoulder joint or Elbow joint, it is important to make proper
mechanical support prior to releasing the brake.
 Always make sure personnel are in no risk when releasing the brake.
 Do not move the joint more than necessary.
No more than about 160 degrees in order for the robot to find its original physical position.

Procedure for releasing the joint
1. Shut down Controller.
2. Remove blue lid on joint.
3. Push brake pin down to release, joint can then be rotated.

Brake on Base and Shoulder joints,

Brake on Elbow joint,

Brake on Wrist joints

4. Make sure to mount blue lid properly on joint before turning on Controller.
5. Correct torque value for screws on blue lids are 0.4Nm

Servicemanual_UR10_en_3.1.3

3.1.4 General guidance to separate joint from counterpart
Disassemble:
1. Check if the necessary tools and documentation are available before starting a repair.
a. Service kit with torque tools, ESD Wristband, etc.
b. Thoroughly read and understand this guide.
2. Move the robot to a comfortable position for disassembly or if necessary dismount entire robot
arm from work cell and place on a solid surface.
3. Shut down the controller.
4. Remove blue lid.
5. Reattach one of the screws from the blue lids, in order to connect an alligator Clip on the ESD
wristband as shown below.

6. Gently unplug the cable connectors without bending the printed circuit board.
The power supply connector for the size 1 has a lock that has to be engaged before it is pulled out
of the printed circuit board.

Servicemanual_UR10_en_3.1.3

7. Disconnect wires
8. Remove alignment screw.

9. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the
joint housing.

10. Slide the grey Teflon ring back.
10 screws become visible, 5 on each side of joint.
Loosen the screws with an open-ended spanner approximately two full turns each.
11. Pull the two parts apart and gently twist them in opposite directions around 10 mm, until a
mechanical stop is met (holes are keyhole-type). They can then be completely separated.

Servicemanual_UR10_en_3.1.3

Assemble:
1. After replacing a joint etc. do as follows to assemble the robot arm.
2. Gently insert one part with screws and washers into the other part.

3. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
4. Gently tighten the 10 screws, tighten in cross order with the correct torque. When shorter bolts are
used (marked with red) drawing on the right shows where they are mounted.
See 3.1.5 Torque values

Tighten in numeric order.

Servicemanual_UR10_en_3.1.3

5. Slide the grey Teflon ring into place and gently put the flat ring back on top of the Teflon ring.

6. Mount the alignment screw and tighten with 0.4Nm.
7.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

8. Mount the blue lid on the joint and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.5 Torque values
UR10 torque values
CONNECTION
Base mounting bracket J0 BASE
[J0] Base
[J1] Shoulder
[J1] Shoulder
Upper arm
Upper arm
[J2] Elbow
[J2] Elbow
Elbow counter part
Elbow counter part
Lower arm
Lower arm
[J3] Wrist 1
[J3] Wrist 1
[J4] Wrist 2
[J4] Wrist 2
[J5] Wrist 3
[J5] Wrist 3
Tool mounting bracket
Alignment screw
Blue lid

TORQUE
8.0Nm
8.0Nm
8.0Nm
2.6-3.0Nm
2.6-3.0Nm
2.6-3.0Nm
1.3Nm
1.3Nm
1.3Nm
1.3Nm
0.4Nm
0.4Nm

HEAD SIZE
10 mm.
10 mm.
10 mm.
7 mm.
7 mm.
7 mm.
5.5 mm.
5.5 mm.
5.5 mm.
5.5 mm.
Torx T10
Torx T10

Attention: Click the torque tools 3 times before used to get the correct calibrated torque.
1.3Nm
1.3Nm

1.3Nm
1.3Nm

2.6-3.0Nm

8.0Nm

Servicemanual_UR10_en_3.1.3

3.1.6 Base joint – Base mounting bracket
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove alignment screw.
3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint
housing.
4. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 7 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
5. Pull the base mounting bracket and Base joint apart and gently twist the two parts in opposite
directions around 10 mm. until a mechanical stop is met (holes are keyhole-type).
6. Pull away the base mounting bracket from Base joint.
7. Disconnect wires between base mounting bracket and Base joint.
2 x red wire
= 48V DC
2 x black wire
= GND
Black connector
= bus cable

Servicemanual_UR10_en_3.1.3

Base joint – Base mounting bracket: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Replace base mounting bracket and reconnect wires according to illustration:
2.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

3. Gently insert base mounting bracket with screws and washers into the Base joint.
4. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
5. Gently tighten the 10 screws, and then tighten in cross order with 8.0Nm.
6. Slide the grey Teflon ring into place and gently put the flat ring back on top of the Teflon ring.
7. Mount the alignment screw and tighten with 0.4Nm.
8. Mount blue lid on Base joint and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.7 Shoulder joint – Base joint
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove blue lid on Base joint.
3. Connect ESD wristband
4. Disconnect wires between Base joint and Shoulder joint
2 x red wire
= 48V DC
2 x black wire
= GND
Black connector
= bus cable (NB: polarized)
5. Remove alignment screw
6. Gently remove black flexible flat ring between Base and Shoulder with a tiny screwdriver or similar tool
and twist it around the joint housing.
7. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 7 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
8. Pull the Base joint and Shoulder joint apart and gently twist the two parts in opposite directions around
10 mm. until a mechanical stop is met (holes are keyhole-type).
9. Pull away the Base joint from Shoulder joint.

Servicemanual_UR10_en_3.1.3

Shoulder joint – Base joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Gently insert Base joint with screws and washers into the Shoulder joint.
2. Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Base joint and Shoulder joint in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 8.0Nm.
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Reconnect connectors as illustrated.
7.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

8. Mount blue lid on Base joint and tighten with 0.4Nm.
10. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.8 Upper arm – Shoulder joint
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove blue lid on Shoulder joint.
3. Connect ESD wristband
4. Disconnect wires between Upper arm and Shoulder joint
1 x red wire
= 48V DC
1 x black wire
= GND
Black connector
= bus cable (NB: polarized)
5. Remove alignment screw.
6. Gently remove black flexible gasket between Upper arm and Shoulder with a tiny screwdriver or similar
tool and twist it around the upper arm.
7. 10 screws become visible, 5 on each side of joint.
Untighten gently the screw with a 10 mm. open-ended spanner about two full rounds, approximately 3
mm. for each screw.
8. Pull the Shoulder joint and upper arm apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
9. Pull away the Shoulder joint from upper arm.

Servicemanual_UR10_en_3.1.3

Upper arm – Shoulder joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Gently insert Shoulder joint with screws and washers into the upper arm.
2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 8.0Nm.
4. Gently put back the gasket.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Connect ESD wristband
7. Reconnect wires correctly.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

8. Mount blue lid on Shoulder joint and tighten with 0.4Nm.
11. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.9 Elbow joint – Upper arm
Disassemble and assemble
Procedure for separating Elbow joint from Upper arm is similar to separation of Upper arm and Shoulder
joint, consult chapter 3.1.8 Upper arm – Shoulder joint

Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove blue lid on Elbow counterpart.
3. Disconnect wires between Elbow joint and Elbow counterpart
1 x red wire
= 48V DC
1 x black wire
= GND
Black connector
= bus cable (NB: polarized)

4. Remove alignment screw.
5. Gently remove black flexible flat ring between Elbow and Elbow counterpart with a tiny screwdriver or
similar tool and twist it around the joint housing.
6. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 7 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
7. Pull Elbow joint and Elbow counterpart apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
8. Pull away the Elbow joint from Elbow counterpart.

Servicemanual_UR10_en_3.1.3

Elbow counterpart – Elbow joint: assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Gently insert Elbow joint with screws and washers into the Elbow counterpart.
2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 2.6-3.0Nm.
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Reconnect connectors as illustrated.
7.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

8. Mount blue lid on Elbow joint and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.11 Wrist 1 joint – Lower arm
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart Shut down
the controller.

1. Remove blue lid on Wrist 1 joint.
2. Connect ESD wristband
3. Disconnect wires between lower arm and Wrist 1 joint.
1 x red wire
= 48V DC
1 x black wire
= GND
Black connector
= bus cable (NB: polarized)
4. Remove alignment screw.
5. Gently remove black flexible gasket between lower arm and Wrist 1 joint with a tiny screwdriver or
similar tool and twist it around the lower arm.
6. 10 screws become visible, 5 on each side of joint. Loosen the screws with a 5.5 mm. open-ended
spanner about two full turns, approximately 3 mm. for each screw.
7. Pull the lower arm and Wrist 1 joint apart and gently twist the two parts in opposite directions around
8 mm. until a mechanical stop is met (holes are keyhole-type).
8. Pull away the lower arm from Wrist 1 joint.

Servicemanual_UR10_en_3.1.3

Wrist 1 joint – Lower arm: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart

1. Gently insert Wrist 1 joint with screws and washers into the lower arm.
2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 1.3Nm.
4. Gently put back the gasket.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Connect ESD wristband
7. Reconnect wires between lower arm and Wrist 1 joint correctly.
8.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

9. Mount blue lid on Wrist 1 joint and tighten 2 pc M3x6 and 1 pc M3x10 with 0.4Nm.
10. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.12 Wrist 2 joint – Wrist 1 joint
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart Shut down
the controller.

1. Remove blue lid on Wrist 1 joint.
2. Connect ESD wristband
3. Disconnect wires between Wrist 1 joint and Wrist 2 joint
1 x red wire
1 x black wire
Black connector

= 48V DC
= GND
= bus cable (NB: polarized)

4. Remove alignment screw.
5. Gently remove black flexible flat ring between Wrist 1 and Wrist 2 with a tiny screwdriver or similar tool
and twist it around the joint housing.
6. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 5.5 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
7. Pull Wrist 1 joint and Wrist 2 joint apart and gently twist the two parts in opposite directions around 8
mm. until a mechanical stop is met (holes are keyhole-type).
8. Pull away Wrist 1 joint from Wrist 2 joint.

Servicemanual_UR10_en_3.1.3

Wrist 2 joint – Wrist 1 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart

1. Gently insert Wrist 1 joint with screws and washers into Wrist 2 joint.
2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 1.3Nm.
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Connect ESD wristband
7. Replace Wrist 1 and reconnect connectors as illustrated into Wrist 2.
8.

Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)

9. Mount blue lid on Wrist 1 joint and tighten 2 pc M3x6 and 1 pc M3x10 with 0.4Nm.
10. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.13 Wrist 3 joint – Wrist 2 joint
Disassemble and assemble
Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and Wrist 1 joint,
consult chapter 3.1.12 Wrist 2 joint – Wrist 1 joint

3.1.14 Tool flange – Wrist 3 joint
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove alignment screw.
3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint
housing.
4. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 5.5 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
5. Pull the tool flange and Wrist 3 joint apart and gently twist the two parts in opposite directions around
8 mm. until a mechanical stop is met (holes are keyhole-type).
6. Pull away the tool flange from Wrist 3 joint.
7. Connect ESD wristband.
8. Disconnect the two connectors.

Servicemanual_UR10_en_3.1.3

Tool flange – Wrist 3 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Connect ESD wristband
2. Replace tool flange and reconnect connectors as illustrated.
3.

Twist the communication cable 1.5 to 2 full rounds before it is
connected (To reduce electrical noise in the system)

4. Gently insert tool flange with screws and washers into the Wrist 3 joint.
5. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
6. Tighten the 10 screws lightly, and then tighten in cross order with 1.3Nm.
7. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
8. Mount the alignment screw and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

Servicemanual_UR10_en_3.1.3

3.1.15 Instructions for calibrating a joint
After replacement calibration of the new joint is required in order to find the correct zero position.
If it is possible and necessary, perform the 3.1.16 Dual Robot calibration alternative perform a joint
calibration.
Instructions for calibrating a joint:
1. Jog robot to HOME position

Illustration shows the HOME position, which is defined as zero position of all joints.
2. Drag a finger from left to right across the UNIVERSAL-sign on main screen of PolyScope.

Servicemanual_UR10_en_3.1.3

3. Enter password lightbot and press OK.

lightbot

4. You are now in Expert Mode, press Low Level Control.

Servicemanual_UR10_en_3.1.3

5. Press Turn power on for enabling power to joints.

6. Press Go to Idle for enabling the joints ready mode.

Servicemanual_UR10_en_3.1.3

7. Select the desired joint by directly clicking the status line for that joint.

8. Press Arm current joint to release the brake on the selected joint.

Servicemanual_UR10_en_3.1.3

Use the Up and Down buttons in the Move window to navigate the joint to the correct zero position
according to the following illustrations.
Press STOP when the joint is in the correct position.

Servicemanual_UR10_en_3.1.3

9. Zero position illustrations
Base:

Shoulder, Elbow, Wrist 1:

Base zero position is aligned so that the
output flange is offset 180 degrees from
the cable in back of robot base.

Shoulder, Elbow and Wrist 1 zero output flange is
vertical aligned (if Base if horizontal).
Make sure that base of robot is horizontal, use
spirit level to align joints.

Wrist 2:

Wrist 3:

Wrist 2 zero position is aligned similar
to Base joint, with tool flange parallel
with wrist

Wrist 3 zero position is aligned so tool connector
is pointing upward.
Mount two bolts in tool holes and use spirit level
to align joint.

Servicemanual_UR10_en_3.1.3

10. Select Calibration tab and press Zero current joint position to calibrate the joint.

11. Press Back to exit Low Level Control.

Servicemanual_UR10_en_3.1.3

12. Press Return to Normal.

13. Verify zero position by moving the robot to HOME.
If not satisfied with the zero position, perform the procedure once again.

Servicemanual_UR10_en_3.1.3

3.1.16 Dual Robot calibration
Dual Robot Calibration kit (Part no: 185500)
Dual Robot Calibration is a calibration that calibrates the robot in the full work space. All robots are Dual
Robot Calibrated when they are produced.
If a joint has been replaced on a calibrated robot the calibration is not correct anymore.
There are 2 options:
- Performing a Dual Robot Calibration after replacement of a joint will let the robot continue in the
production line without modifying waypoints in the robot program. To perform a Dual Robot
Calibration, you need: 2 robots (same size and same generation), calibration Horse and calibration
tool connector.
Go to http://www.universal-robots.com/support/ for downloading CalibrationManual.pdf.

Joint calibration described in this section: After replacing a joint a zero position of the joint can be
adjusted but the calibration level form the Dual Robot Calibration cannot be achieved. Adjustments
of waypoints in the program should be expected.

Servicemanual_UR10_en_3.1.3

3.1.17 Change joint ID
Each joint has a unique ID no. It is NOT possible to have two joints with the same ID no. on the same robot.
ID
J0
J1
J2
J3
J4
J5

Joint
Base
Shoulder
Elbow
Wrist 1
Wrist 2
Wrist 3

Example:
Wrist 1 (J3) has to be replaced. Spare joint is a Wrist 3 (J5)
1. Disconnect the joint with correct ID no.
2. Enter Low Level Control
3. Press Turn power on and the connected joints turn into BOOTLOADER

4. Press Go to Idle and the connected joints turn into READY

Servicemanual_UR10_en_3.1.3

5.
6.
7.
8.
9.

Select Joint ID
Select J5 (The one to be changed)
Uncheck “Exchange IDs” box
In dropdown box, select ID no. 3
Press Set it

10. Confirm Change ID

11. After you have turned power on you can see the joint J5 has changed to J3.

Servicemanual_UR10_en_3.1.3

3.1.18 Joint spare part adaptation
The UR5 and UR10 are constructed of 4 joint sizes and have to be setup on the robot:
Recommended spare joints for UR5 and UR10 are marked with:

Robot:
Wrist 3: ID =5

UR5
Size 1*

UR10
Size 2

Alignment screw

or new wire bundle

Wrist 2: ID =4

Size 1

Size 2

Wrist 1: ID =3

Size 1

Size 2

Elbow: ID =2

Size 3*

Size 3
Wires under/over bracket

Shoulder: ID =1 Size 3

Size 4

Base: ID =0

Size 4

Size 3*

* Using a joint size in a different location i.e. UR5 base as UR5 Elbow, it may be necessary to change ID,
connect all joints electrically, turn the joint 180 degrees in low level control by using the Move tap's
Up/Down function, before mechanical assemble the robot. The robot then needs to be zero positioned or
dual robot calibrated - 3.1.15 Instructions for calibrating a joint

Servicemanual_UR10_en_3.1.3

3.2 Controller
3.2.1 Handling ESD-sensitive parts

To prevent damage to ESD-sensitive parts, follow the instructions below in addition to all the
usual precautions, such as turning off power before removing logic cards:

Keep the ESD-sensitive part in its
original shipping container.
(a special "ESD bag") until the part is ready to
be installed

Put the ESD wrist strap on your
wrist. Connect the wrist band to
the system ground point.
This discharges any static electricity in your
body to ground.

Servicemanual_UR10_en_3.1.3

Step 1:

Step 2:

Put OLD board into spare ESD bag.

Take NEW board out of ESD bag.

Hold the ESD-sensitive part by its edges;

do not touch its pins.
If a pluggable module is being removed, then
use the correct tool.

Servicemanual_UR10_en_3.1.3

Do not place the ESD-sensitive part on
nonconductive material or on a metal table.
If the ESD-sensitive part needs to be put
down for any reason, then first put it into its
special ESD bag

Machine covers and metal tables
are electrical grounds. They
increase the risk of damage
because they make a discharge path from
your body through the ESD-sensitive part.
(Large metal objects can be discharge paths
without being grounded.)

Servicemanual_UR10_en_3.1.3

Prevent ESD-sensitive parts from being accidentally touched by other personnel and do not put
unprotected ESD-sensitive parts on a table.

Be extra careful in working with ESD-sensitive parts when cold-weather and
heating is used, because low humidity increases static electricity.

Servicemanual_UR10_en_3.1.3

3.2.2 Replacement of motherboard 3.0
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
Motherboard 3.0 uses flash memory card.
Motherboard 3.1 uses USB memory stick.
1. Shut down the controller and disconnect the power cable, open the controller cabinet and loosen
the 3 Torx screws

2. Remove the aluminum cover plate

Servicemanual_UR10_en_3.1.3

3. Disconnect cable connections from motherboard:
1. White plug with white, brown, yellow and green wires. 12 V Power
2. Black USB cable for TP USB connector
3. Ethernet cable to external connector
4. Ethernet cable to Safety control board SCB
5. DVI-cable for TP screen
6. Black cable for RS232-connection for TP touch

1
2

Servicemanual_UR10_en_3.1.3

12. Remove the 4 screws from the 2 holding brackets

NB! Ethernet cable to Safety Control Board
13. Replace Motherboard with new one
14. If controller is equipped with long-hole brackets, make sure to replace them with circular-hole
brackets. Tighten the 4 screws gently
15. Insert the 6 cables in correct positions. Special attention on the Ethernet cable to the Safety
Control Board. It must be connected to the right connector on the mother board
16. Re-install Flash card and RAM block
17. Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the
3 screws
18. Connect power and verify that teach pendant works properly

Servicemanual_UR10_en_3.1.3

3.2.3 Replacement of motherboard 3.1
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
Motherboard 3.0 uses flash memory card.
Motherboard 3.1 uses USB memory stick.

1. Shut down the controller and disconnect the power cable, open the controller cabinet and loosen
the 3 Torx screws

2. Remove the aluminum cover plate

Servicemanual_UR10_en_3.1.3

3. Disconnect cable connections from motherboard:
1. White plug with white, brown, yellow and green wires. 12 V Power
2. DVI-cable for TP screen
3. Ethernet cable to Safety control board SCB
4. Ethernet cable to external connector
5. Black USB cable for TP USB connector
6. Grey flat cable for RS232-connection for TP touch

1
6

3 4

4. Remove the 4 screws from the 2 holding brackets

Servicemanual_UR10_en_3.1.3

5. Replace Motherboard.
6. Insert the 6 cables in correct connectors.

3
2

5
4

7. Re-install USB stick for UR system SW.
8. Carefully put back the aluminum cover plate, make sure to mount it correct and fix it with the 3
screws

Servicemanual_UR10_en_3.1.3

3.2.4 Replacement of Safety Control Board
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
How to replace Safety Control Board in Controller box
1. Check that the software on the robot is as new as the firmware version on the SCB.
If the software on the robot is too old, then you get an error C203A0.
Find the SCB firmware ver. on the Ethernet connector.

Find the firmware versions in the “About” menu.
Shortcut to “About” is available from software version 3.2.18642

Servicemanual_UR10_en_3.1.3

2. Shut down the controller and disconnect the power cable, open the controller cabinet
Carefully remove all plugs and connectors

3. Loosen the 5 Torx screws and remove the aluminum cover.

Servicemanual_UR10_en_3.1.3

4. Carefully remove all plugs and connectors

5. Remove 14 screws holding the Safety Control Board.

6. Replace Safety Control Board with new one and tighten the 14 screws to hold the board
7. Insert all connectors and plugs in correct positions.
Eventually see section 5.4.1 Schematic overview
8. Carefully attach the aluminum cover, make sure to mount it correct and fix it with the 5 screws.

Servicemanual_UR10_en_3.1.3

3.2.5 Replacement of teach pendant
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
Note: use the same procedure for power down and removing the aluminum cover
plates as in chapter 3.2.2 Replacement of motherboard 3.0 or
3.2.3 Replacement of motherboard 3.1 and 3.2.4 Replacement of Safety Control Board
1. Disconnect 4 cables:
1. Red plug with black cable
2. Black DVI cable
3. Black USB cable
4. Black cable for RS232-connection to touchscreen

Motherboard 3.0
1
3

Motherboard 3.1
1

4
All rights reserved

Servicemanual_UR10_en_3.1.3

2. Remove the bracket (foot of the controller box) that holds the cable inlet and pull out the cables and
plugs through this hole.

3. Replace teach pendant with new, insert cable in cable inlet and perform reconnection of all plugs and
mounting of aluminum cover in reverse order to the above description.
4. Connect power and verify that teach pendant works properly.

Servicemanual_UR10_en_3.1.3

3.2.6 Replacement of 48V power supply
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
How to replace 48V power supply in Controller box
Note: use the same procedure for power down and removing the aluminum cover plates as in
chapter 3.2.2 Replacement of motherboard 3.0 or 3.2.3 Replacement of motherboard 3.1
and 3.2.4 Replacement of Safety Control Board
1. Remove the handle on Controller box by loosen the 2 screws holding it.

2. Removes the 2 wires for the energy eater/fan.

Black wire

Orange wire

Servicemanual_UR10_en_3.1.3

3. Remove the 2 nuts (M6) in the bottom of Controller module.

4. Gently take out the controller module from the Controller box without disconnecting the robot
cable and power cable.
5. Power supplies are located in the rack under the controller module, the two 48V power supplies
are the lower ones in the rack. (UR5 have one and the UR10 have two 48V power supplies)
Before dismounting the 48V power supply, mark and disconnect the cables from that supply.

Servicemanual_UR10_en_3.1.3

6. Remove the screws respectively of the defective 48V power supply from the side of the rack.

7. Replace 48V power supply with new one.
8. Reconnect the wires for the 48V power supply.
9. Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
10. Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the
screws.
11. Connect power and verify that teach pendant works properly.

Servicemanual_UR10_en_3.1.3

3.2.7 Replacement of 12V power supply
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
How to replace 12V power supply in Controller box
Note: use the same procedure for power down and removing the aluminum cover plate
and cables for teach pendant as in chapter 3.2.5 Replacement of teach pendant
To replace the 12V power supply follow exactly the same steps as for the procedure in
chapter 3.2.6 Replacement of 48V power supply
1. The 12V power supply is placed in top of rack. The screws holding it in the frame are placed on the
sides.

2. Replace 12V power supply with new one.
3. Reconnect the wires for the 12V power supply.
4. Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
5. Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the
5 screws.
6. Connect power and verify that teach pendant works properly.

Servicemanual_UR10_en_3.1.3

3.2.8 Replacement of current distributor
Take care of ESD handling 3.2.1 Handling ESD-sensitive parts
How to replace current distributor in Controller box
Note: use the same procedure for power down and removing the aluminum cover plate
and cables for teach pendant as in chapter 3.2.5 Replacement of teach pendant
1. Current distributor is placed on top of rack.

2. Before dismounting the current distributor, mark and disconnect the cables from the circuit board.

3. Replace current distributor with new one.
4. Reconnect the wires for the current distributor.
5. Re-install Controller module in reverse order and connect the 2 wires for the fan and cables for the
teach pendant.
6. Carefully put back the grey aluminum cover plate, make sure to mount it correct and fix it with the
5 screws.
7. Connect power and verify that teach pendant works properly.

Servicemanual_UR10_en_3.1.3

4. Software
4.1 Update software
Universal Robots software is named PolyScope.
Read This Prior to Updating Your Software:
Updating the software may cause changes or restrictions to functionality.
1. Do not downgrade the software to earlier version than the version the robot was produced with.
2. We advise you only to update, if you can benefit from the new features or the fixed issues.
3. We advise you to thoroughly read the release notes before doing an update, in order to avoid surprises,
caused by changed or added functionality.
4. In case of concerns related to your actual or planned applications, please contact your supplier for
advice and assistance.
5. Follow the instructions in the guide in the download section of the support web site.
Find it under http://universal-robots.com/support
Instructions to update software:
1. Download software update. Carefully read requirements on support site relating to which software
must be installed on robot prior to updating to the downloaded version.
2. Save it in the root folder on a USB-stick.
3. Insert USB-stick into USB-connector on right-hand side of teach pendant.
4. Go to main screen of PolyScope.

5. Press button SETUP Robot.

Servicemanual_UR10_en_3.1.3

6. In left side menu, select Update Robot.

7. Press button Search for searching after software update on USB-stick.

8.
9.
10.
11.

Select the desired software update and press UPDATE.
Press YES to update the software.
Wait for update to complete, after successful update controller will automatically reboot.
Remove USB-stick and power on.

Servicemanual_UR10_en_3.1.3

4.2 Update joint firmware
Each joint on the robot contains firmware to control the joint.
Software version 3.1.16828 and newer:
When the software is updated on a robot the firmware is automatically updated.
After replacement of a joint on a robot the firmware is automatically updated.
Software version before 3.1.16828:
IMPORTANT NOTICE:
19. When updating firmware controller power MUST NOT be turned off during update.
20. Universal Robots can by no means be held responsible for any failed update caused by improper
operation.
Instructions for updating firmware:
Prior to updating firmware, robot software must be updated.
Please refer to chapter 4.1 Update software. When updating robot software, the firmware will
automatically be copied to a folder on the controller.
1. Drag a finger from left to right across the UNIVERSAL-sign on main screen of PolyScope.

2. Enter password lightbot and press OK.

lightbot

Servicemanual_UR10_en_3.1.3

3. You are now in Expert Mode, press Low Level Control.

4. Press Turn power on to go into BOOTLOADER

5. Select the Firmware tab, mark All joints and press UPDATE Firmware.

6. Firmware update is being processed, await message that robot firmware updated successfully.
Controller MUST NOT be powered off during this update.
7. After successful update, press Back.

Servicemanual_UR10_en_3.1.3

8. Back in Expert Mode, press Return to Normal.

Firmware has now been updated.

Servicemanual_UR10_en_3.1.3

4.3 Using Magic files
For easy backup, Universal Robots provides Magic files to automatically copy data from controller to USBstick.
These files are available:
 URmagic log file
 URmagic backup programs
 URmagic configuration files
 URmagic upload programs
 URmagic screenshot

Function:
copies the entire log history file to USB-stick
copies all programs and installation files to USB-stick
copies all configuration files to USB-stick
copies all programs and installation files from USB-stick
generates a screenshot of GUI when USB-stick is inserted

Go to http://www.universal-robots.com/support/ to download Magic files.

Instruction for using Magic files.
1. Download Magic file.
2. Save it in the root folder on a USB-stick.
If more than one Magic file is on USB-stick, they will be run in sequence; the warnings will then
appear for each file. Do not remove the USB-stick until after the last file has been run. Multiple
folders will be created and named with serial number plus a sequential no, like 201430xxxx_0,
201430xxxx_1etc.
3. Insert USB-stick into USB-connector on right-hand side of teach pendant.
4. After a few seconds a red ! USB ! -sign will appear on the screen, this is a warning not to remove
the USB-stick, while the file will do its magic.
5. Await a green <- USB -sign appears on the screen, if there is more than one Magic file on the USBstick then go to 4.
6. After the last Magic file is completed the USB-stick can be safely removed.
7. Remove USB-stick and the process is complete.
The Magic file creates a folder on USB-stick named with the serial number of the robot.

Servicemanual_UR10_en_3.1.3

5. Troubleshooting
In the error codes different words have been used for the same thing:
 On the Safety Control Board: Processor A = A uP = SafetySys1
 On the Safety Control Board: Processor B = B uP = SafetySys2
PSU = Power Supply
PC = Controller
Open log files with Support Log Reader.
Go to http://www.universal-robots.com/support/ to download Support Log Reader

5.1 Error codes
Code

Error description

C0
C1
C1A1

C2
C3

No error
Outbuffer overflow error
Buffer of stored warnings
overflowed
Outbuffer to RS485
overflowed (problem with PCs
message)
Inbuffer overflow error
Processor overloaded error

C4
C4A1

Broken communication
Communication with PC lost.

C4A2

Communication with Safety
Control Board A uP lost

C4A3

Communication with Safety
Control Board B uP lost

C4A4

Communication with primary
Teach Pendant uP lost

C4A5

Communication with
secondary Teach Pendant uP
lost

C1A2

Explanation

How to fix

Processor in any part could
give this error.
Between Safety Control Board
and Motherboard
If either processor A or
processer B is communicating,
the Safety Control Board or
cable between the
Motherboard and Safety
Control Board is defect
If either processor A or
processer B is communicating,
the Safety Control Board or
cable between the
Motherboard and Safety
Control Board is defect
If either processor A or
processer B is communicating,
the Teach Pendant or cable
between the Motherboard and
Teach Pendant is defect
If either processor A or
processer B is communicating,
the Teach Pendant or cable
between the Motherboard and
Teach Pendant is defect
70

a) Check TCP/IP connection
between Motherboard and
Safety Control Board. B)
Exchange Safety Control
Board
a) Check TCP/IP connection
between Motherboard and
Safety Control Board. B)
Exchange Safety Control
Board
a) Check RS485-12V
connection between
Motherboard and Teach
Pendant. B) Exchange
Teach Pendant
a) Check RS485-12V
connection between
Motherboard and Teach
Pendant. B) Exchange
Teach Pendant

Servicemanual_UR10_en_3.1.3

C4A6

Communication with primary
EUROMAP67 uP lost

C4A7

Communication with
secondary EUROMAP67 uP
lost

C4A8

Primary EUROMAP67 uP
present, but euromap67 is
disabled
Secondary EUROMAP67 uP
present, but euromap67 is
disabled
Primary Teach Pendant
present, but Teach Pendant
safety is disabled
Secondary Teach Pendant uP
present, Teach Pendant safety
is disabled
Communication with joint 0
lost
Communication with joint 1
lost
Communication with joint 2
lost
Communication with joint 3
lost
Communication with joint 4
lost
Communication with joint 5
lost
Communication with tool lost
Lost package from Primary
Teach Pendant
Lost package from Secondary
Teach Pendant
Lost package from Primary
Euromap67
Lost package from Secondary
Euromap67
Lost package from Secondary
Masterboard
Lost package from joint 0
Lost package from joint 1
Lost package from joint 2
Lost package from joint 3
Lost package from joint 4
Lost package from joint 5

C4A9

C4A10

C4A11

C4A12
C4A13
C4A14
C4A15
C4A16
C4A17
C4A18
C4A65
C4A66
C4A67
C4A68
C4A69
C4A70
C4A71
C4A72
C4A73
C4A74
C4A75

If either processor A or
processer B is communicating,
Euromap67 or cable between
the Motherboard and
Euromap is defect
If either processor A or
processer B is communicating,
Euromap67 or cable between
the Motherboard and
Euromap is defect
Incorrect safety configuration

Incorrect safety configuration

a) Check Euromap67
connection between
Motherboard and
Euromap67. B) Exchange
Euromap67
a) Check Euromap67
connection between
Motherboard and
Euromap67. B) Exchange
Euromap67
Update the miscellaneous
settings in the Safety
Configuration
Update the miscellaneous
settings in the Safety
Configuration
Update the miscellaneous
settings in the Safety
Configuration
Update the miscellaneous
settings in the Safety
Configuration

More than 1 package lost
More than 1 package lost
More than 1 package lost
More than 1 package lost
More than 1 package lost
More than 1 package lost
More than 1 package lost
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning

Servicemanual_UR10_en_3.1.3

C4A76
C4A77
C4A78
C4A79
C4A80
C4A81

C4A82

C4A83

C4A84

C4A85

C4A86
C4A87
C4A88
C4A89
C4A90
C4A91
C4A92
C4A93

C4A94

C4A95

C5
C5A1
C5A2

Lost package from tool
Lost package from uPA to
joints
Lost package from uPA to
teach pendant
Lost package from uPA to uPB
Lost package from uPB
Packet counter disagreement
in packet from Primary
Screen
Packet counter disagreement
in packet from Secondary
Screen
Packet counter disagreement
in packet from Primary
Euromap67
Packet counter disagreement
in packet from Secondary
Euromap67
Packet counter disagreement
in packet from Safety Control
Board B
Packet counter disagreement
in packet from joint 0
Packet counter disagreement
in packet from joint 1
Packet counter disagreement
in packet from joint 2
Packet counter disagreement
in packet from joint 3
Packet counter disagreement
in packet from joint 4
Packet counter disagreement
in packet from joint 5
Packet counter disagreement
in packet from tool
Packet counter disagreement
in packet from processor A to
joints
Packet counter disagreement
in packet from processor A to
B
Packet counter disagreement
in packet from processor A to
Teach Pendant and EUROMAP
Heavy processor load warning
Heavy processor load
warning:1
Heavy processor load
warning:2

1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
1 package lost – warning
Safety processor 1 in Teach
pendant has a packet
disagreement
Safety processor 2 in Teach
pendant has a packet
disagreement

Servicemanual_UR10_en_3.1.3

C10
C10A1

Broken PC communication
error
Lost packet from PC

C10A101

PC packet received too early

C10A102
C10A103

Packet counter does not
match
PC is sending packets too often

C11

Bad CRC error

C12
C14
C14A1

Unknown message error
Debug message
{float}

Should not occur in the field

C14A2

{signed}

Should not occur in the field

C14A3

{unsigned}

Should not occur in the field

C17

Inbuffer overflow in package
from PC

Communication error between
Safety Control Board and
Motherboard

C26

Motor Encoder index drift
detected
Calibration data is invalid or
does not exist, selftest is
needed!
Online Calibration data
checksum failed
Master received data from too
many joints
Caught wrong message (not
from master)

Joint mechanical problem

Do you see this error on a
robot report it to Universal
Robots.
Do you see this error on a
robot report it to Universal
Robots.
Do you see this error on a
robot report it to Universal
Robots.
Check Ethernet connection
between circuit boards.
Eventually update the
software
Replace joint

Calibration data is not in the
joint

a) Power OFF and Power
ON. B) replace joint

Serial communication problem
with joint

Flash write verify failed
Calibration flash checksum
failed
Program flash checksum failed
Program flash checksum failed
during bootloading
Program flash checksum failed
at runtime
Joint ID is undefined
Illegal bootloader command

Debug message

Check black 2-wire
connectors and wires in
joints
Ignor

C27

C29
C30
C31

C32
C33
C34
C34A0
C34A1
C35
C36

Serial communication problem
with joint

Eventually update the
software
Eventually update the
software
Eventually update the
software
Eventually update the
software
Eventually update the
software
Check black 2-wire
connectors and wires in
joints. Eventually 2 joints
with the same ID.

Update Firmware
Update Firmware
Update Firmware

Debug message

Ignore

Servicemanual_UR10_en_3.1.3

C37

Inbuffer parse error

C38
C38A1
C38A2

Online RAM test failed
Data-bus test failed
Address-bus stuck-high test
failed
Address-bus stuck-low test
failed
Address-bus shorted test failed
Memory-cell test failed
Logic and Temporal
Monitoring Fault
Max current deviation failure

C38A3
C38A4
C38A5
C39
C39A1
C39A2
C39A3
C39A4
C39A5
C39A6
C39A7
C39A100
C39A101
C39A102
C39A103
C39A104
C39A105
C39A106
C39A107
C40
C44

C44A0

Max joint-encoder speed
exceeded
Max motor-encoder speed
exceeded
Illegal state change in joint
detected
Too fast state change in joint
detected
5V regulator voltage too low
5V regulator voltage too high
Watchpoint fault: ADC task
timeout
Watchpoint fault: MotorControl task timeout
Watchpoint fault: Motorencoder task timeout
Watchpoint fault: Jointencoder task timeout
Watchpoint fault:
Communication task timeout
Watchpoint fault: RAM-test
task timeout
Watchpoint fault: CalVal-test
task timeout
Watchpoint fault: ROM-test
task timeout
AD-Converter hit high limit
joint
CRC check failure on primary
bus
Joint 0 CRC check failure on
primary bus

Serial communication problem
with joint

Check black 2-wire
connectors and wires in
joints
Replace Item
Replace Item
Replace Item
Replace Item
Replace Item
Replace Item

The joint is broken; it must
be replaced
The joint is broken; it must
be replaced
The joint is broken; it must
be replaced
If this error occurs several
times, report it as a bug
If this error occurs several
times, report it as a bug
Replace joint
Replace joint

EMC issue external or
electronics internal
Serial communication problem
with joint or secondary bus
node
Serial communication problem
with joint or secondary bus
node

Check grounding and
shielding for EMC problems
Check black 2-wire
connectors and wires in
joints
Replace joint 0

Servicemanual_UR10_en_3.1.3

C44A1

Joint 1 CRC check failure on
primary bus

C44A2

Joint 2 CRC check failure on
primary bus

C44A3

Joint 3 CRC check failure on
primary bus

C44A4

Joint 4 CRC check failure on
primary bus

C44A5

Joint 5 CRC check failure on
primary bus

C44A6

Tool CRC check failure on
primary bus

C44A80

CRC Check failure on primary
bus

C45
C46

AD-Converter error
Loose gearbox or bad encoder
mounting
AD-Converter hit low limit

C47

C48

Powerbus voltage drop
detected.

C49
C49A200

RS485 receive warning
Secondary RS485 bus is down

C50

Robot powerup failure

C50A1

Voltage detected at 24V rail
before startup
Voltage present at unpowered
robot

C50A2

Serial communication problem
with joint or secondary bus
node
Serial communication problem
with joint or secondary bus
node
Serial communication problem
with joint or secondary bus
node
Serial communication problem
with joint or secondary bus
node
Serial communication problem
with joint or secondary bus
node
Serial communication problem
with tool or secondary bus
node
Most likely an interference on
the communication bus

Mechanical problem in gear
related to encoder mounting
EMC issue external or
electronics internal
Error on 48V powerbus to
robot arm

Bus for: Teach Pendant,
Processor A and Processor B
on the Safety Control Board.
Electrical error control box

Replace joint 1

Replace joint 2

Replace joint 3

Replace joint 4

Replace joint 5

Replace Tool mounting
bracket
a) Check green 2-wire
connectors and wires in
joints, b) If the error
reappears contact your
local service provider for
assistance.
Replace Item
Replace joint
a) Check grounding and
shielding for EMC
problems. B) Replace Item
Check 48V output from
PSU. Check currentdistributor PCB.
Replacement of 48V PSU or
current-distributor is
necessary
Check TCP/IP-12V cable to
Teach Pendant
Remove all external
connections to I/Ointerface of Safety Control
Board. Check for short
circuit. Argument of error
code specifies in detail
what causes the error.

Servicemanual_UR10_en_3.1.3

C50A5
C50A6
C50A11
C50A15
C50A16

Powersupply voltage too low
Powersupply voltage too high
Voltage not detected at 24V
rail after startup
Warning, waiting for
SafetySYS2
The Teach Pendant does not
respond

24 V to the I/O interface in the
controller
SafetySYS2 = Processor B on
Safety Control Board
Loose wire or incorrect safety
configuration. Message comes
from Safety Control Board

C50A17

The Euromap67 interface does
not respond

C50A18

Warning, waiting for
SafetySYS1 = Processor A on
SafetySYS1
Safety Control Board
5V, 3V3 or ADC error (5V too
high)
5V, 3V3 or ADC error (5V too
low)
Robot current sensor reading
too high
Robot current sensor reading
too low
48V not present (Check
internal connection)
This error can have several root causes and you have to measure the voltage some places.
There are 3 different components that could be the root cause and you have to measure the
voltage to determine which one of them that is the faulty one.
- 48 V power supply
- Current distributor
- Safety Control Board.
Find the schematic drawing in this service manual
Robot voltage present at 48V
PSU powereup
Voltage present on unpowered
48V power supply
12V, 3V3 or ADC error (12V
too high)
12V, 3V3 or ADC error (12V
too low)
Analog I/O error (-12V too
high)
Analog I/O error (-12V too
low)
The other safetySYS do not
initialize
Wrong voltage from PSU1
Wrong voltage from PSU2
Voltage will not disappear
from PSU

C50A20
C50A21
C50A22
C50A23
C50A24

C50A25
C50A26
C50A27
C50A28
C50A29
C50A30
C50A31
C50A40
C50A41
C50A42

Loose wire or incorrect safety
configuration

Check the cable or change
in the Safety Configuration
of the Installation the
miscellaneous settings
Check the cable or change
in the Safety Configuration
of the Installation the
miscellaneous settings

Servicemanual_UR10_en_3.1.3

C50A43

Warning, waiting for CB2 type
answer from primary
processor

C50A50

Processor A 3.3V supply voltage
out of bounds
Robot voltage below threshold
Robot voltage above threshold
58V generator deviation error
5V regulator too low
5V regulator too high
-4V generator too low
-4V generator too high

C50A51
C50A52
C50A53
C50A54
C50A55
C50A56
C50A57
C50A80
C50A81
C50A82
C50A83
C50A84
C50A85
C50A99
C50A100
C50A101

Last CPU reset caused by LowPower-Reset
Last CPU reset caused by
Window-Watchdog-Reset
Last CPU reset caused by
Independent-Watchdog-Reset
Last CPU reset caused by
Software-Reset
Last CPU reset caused by
External-Pin-Reset
Last CPU reset caused by
Brown-Out-Reset
Wrong software on PCB
Cable not connected

C51A0
C51A1

Short circuit in robot detected
or wrong robot connected to
control box
Voltage rising too slowly
Voltage failed to reach
acceptable level
CRC check failure on
secondary bus
Processor B
Primary screen processor

C51A2

Secondary screen processor

C51A3
C51A4
C53

Primary E67
Secondary E67
IO overcurrent detected

C53A1

IO overcurrent detected, max
is 800mA

C50A102
C50A103
C51

Robot Problem: Robot Cable is
not detected
Robot Problem: 48V or wrong
robot type

Check robot type. Look for
short circuit in cable and in
robot arm.

Robot Problem: 48V
Robot Problem: 48V

CRC check failure on Safety
processor 1 in Teach pendant
CRC check failure on Safety
processor 2 in Teach pendant

Safety Control Board error

Remove all external
connections to I/Ointerface of Safety Control
Board. Check for short
circuit
Remove all external
connections to I/Ointerface of Safety Control
Board. Check for short
circuit

Servicemanual_UR10_en_3.1.3

C53A2

IO overcurrent detected, max
is 600mA
Safety system error

Tool error

C55A23

Safety relay error (minus
connection)

Current distributor error

C55A24

Safety relay error (plus
connection)

Current distributor error

C55A33

Safety relay error (a relay is
stuck)

Current distributor error

C55A34

Safety relay error (relays are
not on)

Current distributor error

C55A50

Voltage present at unpowered
robot
Voltage will not disappear
from robot
5V, 3V3 or ADC error (5V too
low)
5V, 3V3 or ADC error (5V too
high)
Bootloader error, robot
voltage too low or current too
high
Bootloader error, robot
voltage too high
Safety violation
Safety Channel Error In Safety
Control Board
Safety Channel Error In Screen
Safety Channel Error In
Euromap67 Interface
Received fault message from
PC
Safety State is changing too
often
On/Off State is changing too
often

SCB hardware fault

C55

C55A51
C55A52
C55A53
C55A90

C55A91
C55A100
C55A101
C55A102
C55A103
C55A109
C55A110
C55A111

Safety system malfunction

SCB hardware fault
SCB hardware fault
SCB hardware fault

Remove tool connector.
Check for short circuit
Check Motherboard, Safety
Control Board,
Screenboard, Current
distributor (Euromap, if
installed). Bypass safety
connections to I/Ointerface of Safety Control
Board
Fault: Cable SCB-Current
distributor or 48V Power
supply or Current
distributor.
Fault: Cable SCB-Current
distributor or 48V Power
supply or Current
distributor.
Fault: Cable SCB-Current
distributor or 48V Power
supply or Current
distributor.
Fault: Cable SCB-Current
distributor or 48V Power
supply or Current
distributor.
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)

Servicemanual_UR10_en_3.1.3

C55A112

C56

Robot current sensors
readings differ
Robot current is too high while
emergency stopped
Robot current is too high while
safeguard stopped
Overvoltage shutdown

C57

Brake release failure

C57A1

C58
C59

Joint did not move or motor
encoder is not functioning
Large movement detected
during brake release
Robot was not able to brake
release, see log for details
Motor encoder not calibrated
Overcurrent shutdown

C62
C62A1
C62A3
C62A11
C62A13
C63
C68

Joint temperature
High (80 C)
Static load too high warning
Shut down (85 C)
Static load too high
Selftest failed
SPI error

C70

Close to gearbox shear limit

C71
C71A1

Startup check error
Hardware is size1, software is
not
Hardware is size2, software is
not
Hardware is size3, software is
not
Hardware is size4, software is
not
Invalid hardware size read
Motor indication signal not
working
Phase 1 and phase 2 not
working

C55A120
C55A121

C57A2
C57A3

C71A2
C71A3
C71A4
C71A5
C71A6
C71A7

Voltage exceeded 55V

Overcurrent in joint. Argument
= Current in Amps.

Warning
Warning
Stop
Stop

Check Energy Eater. Cable
to Energy eater, Replace
Energy Eater
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Check Brake, solenoid,
Payload, TCP and Mount
Calibrate joint
Check for short circuit.
Check program for
singularity issues. Replace
joint if necessary

Check Payload

Joint: Absolut encoder on joint
communication error
Acceleration / deceleration to
high. Mechanical problem in
gear related to encoder
mounting
Fault: Firmware in joint
Fault: Firmware in joint

Replace joint
Reduce acceleration in user
program. Replace joint if
necessary

Fault: Firmware in joint
Fault: Firmware in joint
Fault: Firmware in joint

The motor wires are damaged,
bad connection in screw
terminals or defect PCB

Replace joint (Replace PCB)

Servicemanual_UR10_en_3.1.3

C71A8

Phase 2 not working

C71A9

Phase 1 not working

C71A10
C71A11
C71A12

Invalid motor test result
ADC calibration failed
Phase 3 not working in joint
failed

C71A50

Current sensor test failed

C71A51

Current sensor test failed

C71A52

Current sensor test failed

C72
C72A1

Power Supply Unit failure
0 PSUs are active

C72A2

1 PSU active, but we expect 2
(UR10)

PSU was not able to deliver
48V or UR10 flash card in UR5
robot

C72A3

2 PSUs active, but we expect 1
(UR5)
Brake test failed during
selftest, check brakepin
Joint encoder warning

UR5 flash card in UR10 robot

C73
C74
C74A1

C74A2
C74A4

Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
Speed reading is not valid

C74A8

System error=malfunction or
inconsistent calibration
detected
Supply voltage is out of range

C74A16

Temperature is out of range

C74A64

Signal low =Too far from
magnetic ring
Signal saturation =Too close to
magnetic ring

C74A128

The motor wires are damaged,
bad connection in screw
terminals or defect PCB
The motor wires are damaged,
bad connection in screw
terminals or defect PCB
Only in joint
The wire is (1) damaged or (2)
has been disconnected from
the PCB (not likely) or (3)
defect PCB
Sensor reported wrong current
when probed
Sensor reported wrong current
when probed
Sensors reported different
currents when probed
48 V Power problem
PSU was not able to deliver
48V (In UR10: No 48V)

Replace joint (Replace PCB)

Replace the joint

Replace the joint. Defect
Printed circuit board
Replace the joint. Defect
Printed circuit board
Replace the joint. Defect
Printed circuit board
Check power connection
between power supply and
Safety Control Board
Check power connection
between power supply and
Safety Control Board and
check that the flash card
and robot match
Check that the flash card
and robot match

Magnetic encoder error
(Absolut encoder)
Warning: The argument is the
sum of C74 errors

Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors
Warning: The argument is the
sum of C74 errors

Servicemanual_UR10_en_3.1.3

C74A207

Joint encoder error

C75

Joint encoder error

C75A1

Invalid decode: Readhead
misalignment, ring damaged
or external magnetic field
present.
Speed reading is not valid

C75A2
C75A4

C75A8

System error=malfunction or
inconsistent calibration
detected
Supply voltage is out of range

C75A16

Temperature is out of range

C75A32

Signal lost =Misaligned
readhead or damaged ring
Signal low =Too far from
magnetic ring
Signal saturation =Too close to
magnetic ring
Joint encoder error

C75A64
C75A128
C75A207

C76
C77

Joint encoder communication
CRC error
Sudden position change
detected on the joint-encoder

C78

Large sudden position change
detected on the joint-encoder

C78A255

Large sudden position change
detected on the joint-encoder

C80A51
C100

Window watchdog reset
Robot changed mode

C101

Real Robot Connected

Example: Argument 207 is the Example.
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported.
Magnetic encoder error
(Absolut encoder)
Error: The argument is the sum Replace joint
of C75 errors

Error: The argument is the sum Replace joint
of C75 errors
Error: The argument is the sum Replace joint
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Error: The argument is the sum
of C75 errors
Example: Argument 207 is the
sum of 128,64,8,4,2,1 which
means that all the errors in
connection to argument 1, 2,
4, 8, 64 and 128 have been
reported.
Error between sensor and joint
circuit
The position reading from the
encoder was different than
expected
The position reading from the
encoder was severely different
than expected, the latest
measurement was discarded
The argument 255 is a number
that relates to the size of the
position change. In other
words this can be treated as a
C78 error.

Check previous error

Status warning, general modus
change

Check preceding errors in
log history

Check previous error
Replace joint
Replace joint
Replace joint
Example

Check connections or very
heavy electrical noise

Contact your local service
provider for assistance

Example.

Servicemanual_UR10_en_3.1.3

C102
C103

Real Robot not connected –
Simulating Robot
UR Ethernet Error

C103A1

Connection to Safety Control
Board lost

C103A2

C111
C115

Package lost from Safety
Control Board
Error=Empty command sent to
robot
Something is pulling the robot
Unknown robot type

C116

Realtime part warning

C117

Restart SCB failed

C150

Protective Stop: Position close
to joint limits
Protective Stop: Tool
orientation close to limits
Protective Stop: Position close
to safety plane limits
Protective Stop: Position
deviates from path
Protective Stop: Position in
singularity
Protective Stop: Robot cannot
maintain its position, check if
payload is correct
Protective Stop: Wrong
payload or mounting detected,
or something is pushing the
robot when entering Freedrive
mode
Protective stop: The robot was
powered off last time due to a
joint position disagreement

C104

C151
C152
C153
C154
C155

C156

C160

Comm. Prob. Between Mother
Board and Safety Control
Board
PC did not receive 3 packets in
a row

Check cable

Check that the Ethernet
cable between PC board
and Safety Control Board is
connected and restart
system

Check Payload setting
The robot type specified in the
configuration is unknown
Possible CPU-overload due to
structure of user program
The Safety Control Board
couldn’t be rebooted from the
controller.

Restructure user program
Reboot the robot

Robot cannot move linear in a
singularity

Use jointspace movement
or change the motion

The robot may move
unexpected due to wrong
settings

Verify that the TCP
configuration and mounting
in the used installation is
correct

1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In

Servicemanual_UR10_en_3.1.3

C161

Protective stop: Large
movement of the robot
detected while it was powered
off. The joints were moved
while it was powered off, or
the encoders do not function.

C171
C171A0

Issue with blends
A MoveC-waypoint were
skipped due to a blend.

C171A1

Blend radius too small in a
MoveC
A ServoC-waypoint were
skipped due to a blend.

C171A3

C171A4

C171A5

C171A6

C171A7

C171A9

Overlapping Blends in a
MoveJ, a waypoint was
skipped
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Overlapping Blends in a
MoveJ, a waypoint was
skipped
Overlapping Blends in a
MoveJ, a waypoint was
skipped
A MoveP-waypoint were
skipped due to a blend.

this case, click “Power Off
Robot”.
3. If the position is correct,
please tick the check box
below the 3D graphics and
click “Robot Position Verified”
1. Verify that the robot
position in the 3D graphics
matches the real robot, to
ensure that the encoders
function before releasing the
brakes. Stand back and
monitor the robot performing
its first program cycle as
expected.
2. If the position is not correct,
the robot must be repaired. In
this case, click “Power Off
Robot”.
3. If the position is correct,
please tick the check box
below the 3D graphics and
click “Robot Position Verified”
The value for the blend radius
is too large compared to the
distance between the
waypoints.

Decrease the blend radius
or choose waypoints that
are further apart.

The value for the blend radius
is too large compared to the
distance between the
waypoints.

Decrease the blend radius
or choose waypoints that
are further apart.

The value for the blend radius
is too large compared to the
distance between the
waypoints.

Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.
Decrease the blend radius
or choose waypoints that
are further apart.

Servicemanual_UR10_en_3.1.3

C171A10

C191
C191A1
C191A2

Blend radius too small error in
a MoveP
Overlapping Blends in a
MoveL, a waypoint was
skipped
Overlapping Blends in a
MoveL, a waypoint was
skipped
Overlapping Blends in a
MoveL, a waypoint was
skipped
Overlapping Blends in a
MoveL, a waypoint was
skipped
Illegal control mode
Joint self test not received by
controller
START_NORMAL_OPERATION
is not allowed on selftest
firmware
GOTO_BACKDRIVE_COMMAN
D is not allowed on selftest
firmware
joint_mode ==
JOINT_RUNNING_MODE is not
allowed on selftest firmware
Safety system violation
Joint position limit violated
Joint speed limit violated

C191A3

TCP speed limit violated

C191A4
C191A5
C191A6

TCP position limit violated
TCP orientation limit violated
Power limit violated

C191A7
C191A8
C191A9

Joint torque window violated
Joint torque window too large
Reduced mode output
violation
Safeguard stop output
violation
Emergency stop output
violation
Momentum limit violation
Robot moving output violation
Robot is not braking in stop
mode

C171A11

C171A12

C171A13

C171A14

C172
C184
C185A1

C185A2

C186A1

C191A10
C191A11
C191A12
C191A13
C191A14

Reduce acceleration or
speed for joint
Reduce acceleration or
speed for joint

Reduce acceleration or
speed for joint

During the braking process,
the safety system monitors if
the robot brakes as expected.
If this is not the case, this error
is generated

Check payload settings and
mounting

Servicemanual_UR10_en_3.1.3

C191A15

Robot is moving in stop mode

C191A16
C191A17

Robot did not stop in time
Received a null vector for TCP
orientation
Robot not stopping output
violation
Invalid safety IO configuration

C191A18
C191A19
C191A20
C191A21
C191A22
C191A23
C191A24
C191A25
C191A26
C191A27
C191A28
C191A29
C191A30
C191A31

C192
C192A1

C192A2
C192A3

Configuration information or
limit sets not received
The other safety processor
detected a violation
Received unknown command
from Controller
Invalid setup of safety limits
Reduced Mode Output set,
while it should not be
Reduced Mode Output not set,
while it should be
Not Reduced Mode Output
set, while it should not be
Not Reduced Mode Output not
set, while it should be
Robot Emergency Stop
exceeded maximum stop time
System Emergency Stop
exceeded maximum stop time
Safeguard Stop exceeded
maximum stop time
Operation mode switch is
present while the three
position switch is missing
Safety system fault
Robot still powered in
emergency stop

Robot emergency stop
disagreement
System emergency stop
disagreement

When the robot is stopped
due to a safety violation or a
safeguard stop, the safety
system generates this error, if
the robot moves while in this
mode

Is the robot physically
pushed while safeguard
stopped?

Fault in config file, when no
GUI is used

Check Firmware
Check Firmware
Check Firmware
Check Firmware
Check Firmware
Check Firmware
Too high payload
Too high payload
Too high payload

When emergency stop is
active, the robot arm powers
off. The controller is
responsible for sending the
power off command. This
error is generated, if the safety
system detects that the robot
arm still has power.
E-stop in teach pendant or in
Robot E-stop circuit problem
System E-stop circuit problem

Check cables or replace
Safety Control Board (SCB)
Check cables or replace
Safety Control Board (SCB)

Servicemanual_UR10_en_3.1.3

C192A4

Safeguard stop disagreement

Safeguard circuit problem

C192A5

Euromap safeguard stop
disagreement

Euromap circuit problem

C192A6

Joint position disagreement

C192A7

Joint speed disagreement

C192A8

Joint torque disagreement

C192A9

TCP speed disagreement

C192A10

TCP position disagreement

C192A11

TCP orientation disagreement

C192A12

Power disagreement

C192A13

Joint torque window
disagreement
Reduced mode input
disagreement
Reduced mode output
disagreement
Safety output failed
Safeguard stop output
disagreement
The other safety processor is
in fault
Emergency stop output
disagreement
SPI output error detected
Momentum disagreement
Robot moving output
disagreement
Wrong processor ID
Wrong processor revision
Potential brownout detected

C192A14
C192A15
C192A16
C192A17
C192A18
C192A19
C192A20
C192A21
C192A22
C192A23
C192A24
C192A25
C192A26
C192A27
C192A28
C192A29
C192A30

Emergency stop output
disagreement
Safeguard stop output
disagreement
Robot not stopping output
disagreement
Safeguard reset input
disagreement
Safety processor booted up in
fault mode

Power calculation: uP-A and
uP-B disagreement

Check cables or replace
Safety Control Board (SCB)
Check cables from Safety
Control Board to Euromap
to external machine
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Reduce payload, check for
encoder problems
Joint error: Check previous
error codes from the same
joint and evaluate

Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement

Check cables

Safety I/O uP-A and uP-B
disagreement

Check Cables and Software
error on motherboard

Safety I/O uP-A and uP-B
disagreement
Safety Control Board

Check Cables and Software
error on motherboard
Check 24 V supply

Safety I/O uP-A and uP-B
disagreement

Check Cables and Software
error on motherboard

Voltage drop on Safety Control
Board(SCB) or defect SCB
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement

Check Cables and Software
error on motherboard

Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard
Check cables

Servicemanual_UR10_en_3.1.3

C192A31

Reduced Mode Output
disagreement
Not Reduced Mode Output
disagreement
Checksum disagreement
between uA and uB
User safety config checksum
disagreement between uA and
GUI
Robot config checksum
disagreement between uA and
GUI
Online RAM test failed
Not all safety related
functionalities are running
Package too short for CRC
calculation
Three position switch input
disagreement
Operation mode switch input
disagreement
One of the nodes is in fault
mode

Safety I/O uP-A and uP-B
disagreement
Safety I/O uP-A and uP-B
disagreement

Check Cables and Software
error on motherboard
Check Cables and Software
error on motherboard

SCB has detected an error

C193A0

Joint 0 is in fault mode

SCB has detected an error

C193A1

Joint 1 is in fault mode

SCB has detected an error

C193A2

Joint 2 is in fault mode

SCB has detected an error

C193A3

Joint 3 is in fault mode

SCB has detected an error

C193A4

Joint 4 is in fault mode

SCB has detected an error

C193A5

Joint 5 is in fault mode

SCB has detected an error

C193A6

Tool is in fault mode

SCB has detected an error

C193A7

Screen 1 is in fault mode

C193A8

Screen 2 is in fault mode

SCB has detected an error on
Safety processor 1 in Teach
pendant
SCB has detected an error on
Safety processor 2 in Teach
pendant

See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
update the firmware on the
joint or reboot system
See previous error or
reboot system
See previous error or
reboot system

C192A32
C192A33
C192A34

C192A35

C192A36
C192A37
C192A38
C192A39
C192A40
C193

See previous error or
reboot system

Servicemanual_UR10_en_3.1.3

C193A9

Euromap 1 is in fault mode

SCB has detected an error

C193A10

Euromap 2 is in fault mode

SCB has detected an error

C194

One of the nodes is not booted
or not present
Joint 0 is not booted or not
present
Joint 1 is not booted or not
present
Joint 2 is not booted or not
present
Joint 3 is not booted or not
present
Joint 4 is not booted or not
present
Joint 5 is not booted or not
present
Tool is not booted or not
present
Screen 1 is not booted or not
present

C194A0
C194A1
C194A2
C194A3
C194A4
C194A5
C194A6
C194A7

C194A8

Screen 2 is not booted or not
present

C194A9

Euromap 1 is not booted or
not present
Euromap 2 is not booted or
not present
Joint 0 not ready while brake
release requested

C194A10
C194A128

See previous error or
reboot system
See previous error or
reboot system

SCB has detected an error
SCB has detected an error
SCB has detected an error
SCB has detected an error
SCB has detected an error
SCB has detected an error
SCB has detected an error
SCB has detected an error on
Safety processor 1 in Teach
pendant
SCB has detected an error on
Safety processor 2 in Teach
pendant
SCB has detected an error
SCB has detected an error
Must be at least in IDLE mode
when the brake release is
requested
Must be at least in IDLE mode
when the brake release is
requested
Must be at least in IDLE mode
when the brake release is
requested

1. Check for loose
communication cable. 2.
Replace base
1. Check for loose
communication cable. 2.
Replace shoulder
1. Check for loose
communication cable. 2.
Replace elbow

C194A129

Joint 1 not ready while brake
release requested

C194A130

Joint 2 not ready while brake
release requested

C194A131

Joint 3 not ready while brake
release requested

Must be at least in IDLE mode
when the brake release is
requested

1. Check for loose
communication cable. 2.
Replace Wrist 1

C194A132

Joint 4 not ready while brake
release requested

Must be at least in IDLE mode
when the brake release is
requested

1. Check for loose
communication cable. 2.
Replace Wrist 2

C194A133

Joint 5 not ready while brake
release requested

Must be at least in IDLE mode
when the brake release is
requested

1. Check for loose
communication cable. 2.
Replace Wrist 3

Servicemanual_UR10_en_3.1.3

C194A134

Tool not ready while brake
release requested

Must be at least in IDLE mode
when the brake release is
requested

1. Check for loose
communication cable. 2.
Replace Tool

C195

Conveyor speed too high

Conveyor speed higher than
robot is able to run

C195A1

Conveyor speed too high for
joint speed safety limit
Conveyor speed too high for
TCP speed safety limit
Conveyor speed too high for
momentum safety limit
MoveP speed too high

Make sure that conveyor
tracking is set correct up
Make sure that conveyor
tracking is set correct up
Make sure that conveyor
tracking is set correct up
Make sure that conveyor
tracking is set correct up
Reduce speed or increase
blend radius in user
program

C195A2
C195A3
C196

C197
C200
C200A1

Blend overlap warning
Safety Control Board hardware
error
Hardware ID is wrong

C200A2

MCU type is wrong

C200A3

Part ID is wrong

C200A4

RAM test failed

C200A5

C200A6

pRom Crc test failed

C200A7

Watchdog reset the processor

C200A8

OVG signal test not passed

C200A9

3V3A power good pin is low

C200A10

3V3B power good pin is low

C200A11

5V power good is low

C200A12

3V3 voltage too low

C200A13

3v3 voltage too high

C200A14

48V input is too low

C200A15

48V input is too high

Too high speed in relation to
blend radius

SCB: uP-A has detected an
error
SCB: uP-A has detected an
error: Wrong SCB
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error: firmware error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error: over voltage generator
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error
SCB: uP-A has detected an
error

Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)

Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Replace Safety Control
Board (SCB)
Check: 48 V power supply,
current distributer energy
eater or replace SCB
Check: 48 V power supply,
current distributer energy
eater or replace SCB

Servicemanual_UR10_en_3.1.3

C200A16

24V IO short circuited

Too high current

C200A17

PC current is too high

Motherboard takes too high
current

C200A18

Robot voltage is too low

C200A19

Robot voltage is too high

C200A20

24V IO voltage is too low

C200A21

12V voltage is too high

C200A22

12V voltage is too low

C200A23

It took too long to stabilize
24V

Safety Control Board
error(SCB)

C200A24
C200A25

It took too long to stabilize
24V IO
24V voltage is too high

Safety Control Board
error(SCB)
Safety Control Board
error(SCB)

C200A26

24V IO voltage is too high

C201

Setup of safety board failed

C202

SCE configuration was illegal,
after applying tolerances
PolyScope detected a
mismatch between the shown
and (to be) applied safety
parameters

C203A0

C204A0
C204A1
C204A2
C204A3

Protective Stop: Invalid
setpoint
Sudden change in target
position
Inconsistency between target
position and speed
Sudden stop

Disconnect external
connections

Check: Short circuit in robot
arm, 48 V power supply,
current distributer energy
eater or replace SCB
Check: 48 V power supply,
current distributer energy
eater or replace SCB
Disconnect I/O or replace
SCB
Check 12 V power supply,
cables or replace SCB
Check 12 V power supply,
cables or replace SCB
External 24 V problem or
replace SCB

Invalid safety parameters have
been received

External 24 V problem or
replace SCB
Replace Safety Control
Board (SCB)
Disconnect I/O or replace
SCB
Verify that the setup of the
Safety Configuration is
valid. Check the Ethernet
connection between
Motherboard and Safety
Control Board.

The PolyScope continuously
verifies that the shown safety
parameters are equal to the
running parameters

Check that the software
version is the same or
newer than the firmware
on the safety control board.
Reload the installation and
re boot the robot

The program contains motions
that are not ramped correctly
down

To abort a motion, use
“stopj(a)” or “stopl(a)”
script commands to
generate a smooth
deceleration.”

Servicemanual_UR10_en_3.1.3

C204A4
C204A5
C204A6

C205
C205A0
C206

C206A0

C206A1

C206A2

C206A3

C206A4

C206A5

C207

Robot is not braking in stop or
pause mode
Robot program resulted in
invalid setpoint
Blending failed and resulted in
an invalid setpoint

If this happens, report it as
a bug

Try changing the blend
radius or contact technical
support

Target speed does not match
target position
Inconsistency between target
position and speed
Sanity check failed

The software version on
the robot must be the same
or later than the version
the robot had from the
factory.

Target joint speed does not
match target joint position –
Joint 0 (Base)
Target joint speed does not
match target joint position –
Joint 1 (Shoulder)
Target joint speed does not
match target joint position –
Joint 2 (Elbow)
Target joint speed does not
match target joint position –
Joint 3 (Wrist 1)
Target joint speed does not
match target joint position –
Joint 4 (Wrist 2)
Target joint speed does not
match target joint position –
Joint 5 (Wrist 3)
Fieldbus input disconnected

Check fieldbus connections
or disable the fieldbus in
the installation

Servicemanual_UR10_en_3.1.3

5.2 LED indicators and Fuses on Safety Control Board
Safety Control Board (SCB)
Fuse 48 V:
The 5 A fuse “48 V” protects all 48 V for over current in the system inclusive Euromap.
This information is only for troubleshooting. Do NOT replace the fuse on any circumstances.
Do ONLY replace the SCB with a new tested board.

LED

Fuse 24 V:
2 fuses 5 Amp in parallel for the DI/DO 24 V supply on the safety control board no matter if the 24 V is from
the controller or external power supply. Do NOT replace the fuse on any circumstances. Do ONLY replace
the SCB with a new tested board
LED indicators:












12V-PSU
12V
5V
-4V
3V3A
3V3B
48V
24V
R
A
B

On when the power plug is connected.
System: On when the power on has been activated
On when “12 V System” is on and indicate that 5 V is ok.
On when “12 V System” is on and indicate that – 4 V to analog I/O is ok.
On when 5V is on and indicate 3.3 V for logic Safety circuit A
On when 5V is on and indicate 3.3 V for logic Safety circuit B
48 V is present on the safety control board
48 V is detected and ok, indicate that internal 24 V is present for I/O’s
48 V on robot arm
Status for Logic A: a blink sequence
Status for Logic B: a blink sequence

Servicemanual_UR10_en_3.1.3

Normal startup sequence for a CB3.x UR10:
1. The 12V-PSU LED is on when the power plug is connected to a working power supply.
2. When the power button on the teach pendant is pressed, all LED indicators are turned on except for
the 48V, 24V and R LEDs. The A and B LEDs also exhibit a special behavior by intermittently turning off
and on ("blinking") once triggered.
3. The final phase of the startup sequence occurs (immediately) after the Polyscope software is done
loading. At this stage, the 48V and 24V LED indicators become active (are switched on).
If the 48V LED indicator is off all the time in the startup sequence you should measure the voltage:
See the E-Plan diagram: 5.4.1 Schematic overview

3.1. Measure the 48V on the Safety Control Board (SCB) where the 48V comes from the Current
distributor. And check this 1 second pulse.
3.1.1.The voltage is measured on the Safety Control Board. That means the Safety Control Board is
defect.
3.1.2.No voltage is measured on the Safety Control Board. Then measure the 230 V on the input
side of the 48V power supply. If the voltage pulse of 1 second is present, the Power supply is
defect.
3.1.3.No voltage is measured on the input of the power supply. Then measure the 230 V on the
input side of the Current distributor. If the voltage is present, the current distributor is defect.

Servicemanual_UR10_en_3.1.3

5.3 Error phenomena
5.3.1 ControlBox: NO CONTROLLER displayed in Initializing

ControlBox = NO
CONTROLLER displayed at
INITIALIZING screen

Replace Ethernet cable between motherboard
and Safety Control Board and verify problem is
solved

YES

Defective Ethernet cable

YES

Defective Safety Control
Board

YES

Defective motherboard

NO
Replace Safety Control Board and verify problem
is solved

Replace motherboard and verify problem is solved

Servicemanual_UR10_en_3.1.3

5.3.2 NO CABLE displayed during power up

NO CABLE displayed during
power up > controller shuts
off after few seconds

Measure that 230V AC is present on power input
connector on 12V power supply

Replace current distributor

Replace 12V power supply

Replace Safety Control
Board

YES
Check that 12V PSU LED is lid. The top LED in the
row in the right side of the Safety Control Board.
See.: 5.2 LED indicators and Fuses on Safety
Control Board
YES

During power up (within first few seconds) check
that the 48 V LED and R LED are lid before they
turns off again. The no. 3 and no 5 LED from the
bottom on the Safety Control Board.

YES
Replace motherboard

Servicemanual_UR10_en_3.1.3

5.3.3 Protective stop
Read also article 18939 on the support site

Protective Stop

www.universal-robots.com/support

Payload and tcp settings in Installation\TCP
Configuration must correspond with actual tool.
Are settings incorrect?

YES

Adjust payload and tcp
settings

YES

Is center of mass very different from tcp point?

Adjust center of mass in the
TCP tap or using script code
set_payload()

NO
Are waypoints positioned very close to cylindrical
area around base of robot where robot can not
operate?

YES

Adjust waypoints away
from this area or reduce
speed/acceleration

NO
Is robot moving with excessive speed or
accelerating very hard?

YES

Reduce speed or
acceleration

NO
Press free drive button on back of TP and check
the free drive function of all joints > observe any
abnormal friction or behavior observed?

YES

Inspect joint with abnormal
behavior, joint might have
mechanical failure

NO
Contact distributor from where robot has been
purchased

Servicemanual_UR10_en_3.1.3

5.3.4 Power on failure in Initializing
If power turns off a few seconds after Robot Power is turned On in the Initializing window, there are
many possible causes for this phenomenon.
Most likely it is a control box failure or a communication failure with a joint or the tool.

Control box failure

Check log history for error messages and consult
the section Error Codes for detailed explanation

Power controller OFF/ON

During power up (within the first three seconds of
power up) measure that 230V AC is present on
48V_PSU1 connector on current distributor PCB

YES

Replace 48V power supply

YES

Replace current distributor

NO
Measure that 12V DC is present in the red
connector/flatcable on the current distributor

NO
Replace Safety Control
Board

Servicemanual_UR10_en_3.1.3

Read also article 19744 on the support site

Communication failure with
a joint or the tool connector

www.universal-robots.com/support

Check log history for error messages and consult
the section Error Codes for detailed explanation

Go to LOW LEVEL CONTROL in EXPERT MODE
(consult chapter 4.2 for how to access EXPERT
MODE)

Go to tab General and press “TURN POWER ON”
and “Go to Idle” and “Arm robot” Does state of
tool switch from “OFF” to “ON”?

Unmount tool/joint and
check black comm.
connector is fully inserted in
printed circuit board

YES

Does state of tool switch to
READY?

NO
Continue to
next page

Replace tool

Servicemanual_UR10_en_3.1.3

Continued

Go to tab General and press “TURN POWER ON”
and “Go to Idle” and “Arm robot”. Does state of
all joints J0-J5 switch from “Power OFF” to
READY?

Remove blue lid of joint and
check black comm.
connector is fully inserted

YES
YES

Does state of joint switch to
READY?

Communication ok to joints and tool

Replace joint

Servicemanual_UR10_en_3.1.3

5.3.5 Checklist after a collision

Checklist after a collision

Check log history for error messages and consult
the section Error Codes for detailed explanation

Stop robot program and eventually press the
Emergency button prior to entering the work cell

Visually inspect robot arm.
Are any parts visually damaged, like damages on
one of the blue lids?

YES

Remove lid and inspect
parts inside of joint

YES

Inspect joint with abnormal
behavior

NO
Press free drive button on back of TP and check
the free drive function of all joints > any abnormal
friction or behavior observed?
NO
Press free drive button on back of TP and check
the free drive function of all joints > any excessive
noise observed?

YES

Inspect joint with abnormal
noise. If click noises appear,
check brake pin

Start the robot program in
NOreduced speed and
verify robot is running as intended

100

Servicemanual_UR10_en_3.1.3

5.4 Electrical documentation
5.4.1 Schematic overview
Diagrams in pdf or in E-plan format, can be found on the Support site:
http://www.universal-robots.com/support/

101

Servicemanual_UR10_en_3.1.3

102

Servicemanual_UR10_en_3.1.3

103

Servicemanual_UR10_en_3.1.3

104

Servicemanual_UR10_en_3.1.3

105

Servicemanual_UR10_en_3.1.3

106

Servicemanual_UR10_en_3.1.3

5.4.2 E-Plan diagrams
Diagrams in pdf or in E-plan format, can be found on the Support site:
http://www.universal-robots.com/support/

107

Servicemanual_UR10_en_3.1.3

108

Servicemanual_UR10_en_3.1.3

109

Servicemanual_UR10_en_3.1.3

110

Servicemanual_UR10_en_3.1.3

111

Servicemanual_UR10_en_3.1.3

112

Servicemanual_UR10_en_3.1.3

113

Servicemanual_UR10_en_3.1.3

114

Servicemanual_UR10_en_3.1.3

115

Servicemanual_UR10_en_3.1.3

116

Servicemanual_UR10_en_3.1.3

117

Servicemanual_UR10_en_3.1.3

118

Servicemanual_UR10_en_3.1.3

119

Servicemanual_UR10_en_3.1.3

6. Spare parts
6.1 Spare part list
Item no.
Controller:
122950
124910
122091
180001
171022
171010
122600
122650
172290
177002
177003
172080
122745
164229
171030
171031
177503
106800
122671
122673
123670
Robot arm:
111110
164231
122071
122124
122224
122324
104001
122122
122222
122322
122061
103310
103410

Item designation
Controller excl. Teach Pendant UR10
Controller OEM CB3 UR10 (Excl. Teach Pendant and cabinet)
Teach Pendant incl. Touch Screen & power cable UR5 & UR10
Stylus Pen
Flash card CB3.0
USB Flash 2 GB for UR system SW CB3.1
Motherboard kit CB3.0
Motherboard kit CB3.1
Safety Control board kit
Power Supply Unit 12V
Power Supply Unit 48V
Current Distributor PCB
Energy-eater incl. fan CB3
Connector Epic w. cable UR10 CB3 (Controller output connector to robot arm)
RAM module for Motherboard 3.0
RAM module DDR3L for Motherboard 3.1
Filter kit for controller
Euromap E67 kit CB3
Euromap E67 Bypass Plug
Euromap E67 module CB3
Euromap E67 cable 6 m

UR10 robotarm stand-alone CB3
Cable: Base to Controller UR10
Base Mounting Bracket UR10
Joint Size 4 Base UR10
Joint Size 4 Shoulder UR10
Joint Size 3 Elbow UR10
Elbow counterpart and Lower arm kit UR10
Joint Size 2 Wrist 1 UR10
Joint Size 2 Wrist 2 UR10
Joint Size 2 Wrist 3 UR10
Tool Mounting Bracket UR10
Sealing set UR10, external. Visible flat rings between joints
Lid set complete UR10 incl. seal in the lids

120

Servicemanual_UR10_en_3.1.3

Item no.
Accessories:
173101
131095
139033
132407
107000
131510

Item designation
Cable for tool, angle: external
Lid, For tool connector. Tool protective cap Alu.
Bracket for Mounting Teach Pendant
Bracket for Mounting Controller
Safety Control board Terminal Kit
Bracket for mounting robot arm UR10 (Item & Bosch profile)

6.2 Service kit
Item no.
109010
109101
109102
109110
109103
109105
109106
109107
109104
109111
109112
164084
109180

Item designation
Service kit UR5/UR10
(kit includes all of the below part no.’s)
Spanner Hex 5.5mm
UR5 & UR10
Spanner Hex 7.0mm
UR5 & UR10
Spanner Hex 10.0mm
UR10 only
Screwdriver Flat 2.5
UR3 & UR5 & UR10
Screwdriver torx T10
UR5 & UR10
Torque wrench Hex 5.5mm Size 1 and Size 2 (1.3 Nm)
UR5 & UR10
Torque wrench Hex 7.0mm Size 3 (3.0 Nm)
UR5 & UR10
Torque wrench Hex 10.0mm Size 4 (8.0 Nm)
UR10 only
Torque screwdriver torx T8 + T10 (0.4 Nm)
UR3 & UR5 & UR10
Torque screwdriver torx T10 (1.3 Nm)
UR3
Torque screwdriver torx T20 (3.0 Nm)
UR3
Bypass cable (for setting joint-ID)
UR3 & UR5 & UR10
ESD wrist strap
UR3 & UR5 & UR10
Service kit box
UR3 & UR5 & UR10

121

Servicemanual_UR10_en_3.1.3

7. Packing of robot
Packing of robot and controller box for shipment



Remove any external tooling and external electrical connections.
Download the Put_Into_Box program to a USB stick. Download it from:
http://www.universal-robots.com/support/



Load program Put_into_box_ur10.urp and follow instructions while removing mounting bolts.

While robot folds together, hold a piece of bubble wrap between Shoulder joint and wrists.
Note: If robot cannot run or power is not available, it is possible to manually release the brakes for
each joint individually and pack the robot accordingly. For brake release, see 3.1.3 Brake release


Power down, disconnect power and disconnect robot arm from controller.



Pack robot arm and Controller box in designated boxes. Make sure the robot arm is orientated
correct in the box.

122

Servicemanual_UR10_en_3.1.3

8. Change log
Date

Revision

Action

Changes

UR10_en_3.0
UR10_en_3.0.1
UR10_en_3.0.2

Added
Changed
Changed

20. Octo. 2014 UR10_en_3.1.1

Changed

January 2016

Changed

Added

First revision 3.0 released
Pictures and illustrations changed to match 3. gen. robot
Error codes, Spareparts changed to match 3. Gen robot
and ESD handling added
Electrical doc., E-plan , Spare parts update and error code
update. New structure for disassemble/assemble guide.
ESD handling modified.
Update of electrical drawings, Joint spare part adaption,
error codes. Dual robot calibration. Added Motherboard
3.1
3.1.4 Bolt length for joints

Added
Added
Corrected

Error code C71A12
3.1.5 Added tolerance to Size 3 torque
5.2 LED startup sequence

3. May 2014
19. June 2014
11. July 2014

December
2016

UR10_en_3.1.2

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Servicemanual_UR10_en_3.1.3

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Service Manual UR10 En 3.1.3

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