Periodic maintenance tasks for operators

Only personnel with sufficient training can perform the following maintenance tasks.

A series of videos are available online that show how key preventative maintenance inspection is done. The video does not cover all the content in this section.

CAUTION

If the robot has been impacted, it may be structurally damaged, causing a risk of malfunction and injury to personnel.

If you suspect the robot has suffered any damage, you need to conduct a thorough inspection to ensure that the robot's strength and structure is not compromised.

Weekly tasks

Part	Maintenance	Symptoms of neglect
Safety laser scanners	Check for visual defects, for example cracks and scratches. Replace as needed.	The robot goes into unexpected Protective stops or navigates around non-existent obstacles. The robot reports contamination errors.
Covers	Check mounting. Ensure the covers are even and are not in contact with the wheels. If you replace the cover with the robot's nameplate, make sure to mount a new copy of the nameplate to the replacement cover.	Covers hang loose, get scratched, do not protect the robot's internal parts, or are in contact with moving parts.

Part

Maintenance

Symptoms of neglect

Safety laser scanners

Check for visual defects, for example cracks and scratches.

Replace as needed.

The robot goes into unexpected Protective stops or navigates around non-existent obstacles.

The robot reports contamination errors.

Covers

Check mounting. Ensure the covers are even and are not in contact with the wheels.

If you replace the cover with the robot's nameplate, make sure to mount a new copy of the nameplate to the replacement cover.

Covers hang loose, get scratched, do not protect the robot's internal parts, or are in contact with moving parts.

Monthly tasks

Part	Maintenance	Symptoms of neglect
Robot hardware	In the robot interface under Monitoring > Hardware health, check if there are any warnings (marked with yellow).	Over time, a warning can become an error and will stop the robot from operating.
Speaker and signal lights	Check that all visual and auditory warnings function. Adjust or replace as needed.	Speaker plays low or distorted sounds.
Charging pads	Using your hands, ensure that each pad moves up and down freely. Clean the charging pads on the robot and charging stations using sandpaper.	Contamination collects on the charging pads or they become stiff. Connection to the charging station becomes less reliable and charging is less effective. Charging issues or poor connection with charging station.
Charging broom	Clean the broom, and check that it is intact.	Dust collects on the charging pads. Connection to the charging station becomes less reliable and charging is less effective. Charging issues or poor connection with charging station.
3D cameras	Check for visual defects, for example cracks and scratches.	Robot navigates around non-existent obstacles or fails to detect obstacles.
Top plate	Check mounting. Ensure it sits evenly on top of the robot with connections accessible. Replace as needed.	Robot, top module, or load become unstable. Damage to the plate increases.

Quarterly tasks

Part	Maintenance	Symptoms of neglect
Control panel	Check that all buttons on the control panel function.	Pressing a button does not affect the robot.
Emergency stop	Check that all Emergency stop buttons work. Push down the Emergency stop button, and check that the Restart button lights up and that the status lights turn red. Verify that an emergency stop message is displayed in the robot interface.	Pressing a button does not bring the robot into Emergency stop.
Manual stop	To check that the Stop button works, push the button and check that the robot stops and that the Stop button blinks red.	Pressing the Stop button does not bring the robot into Manual stop.
Restart button	To check that the Restart button works, first enable Manual stop by pressing the Stop button. Press the Restart button and verify that this brings the robot out of Manual stop.	Pressing the Restart button does not bring the robot out of Protective or Manual stop.

Half-yearly tasks

Parts	Maintenance	Symptoms of neglect
Safety marking on the floor	Check if the safety markings around operating hazard zones are intact and visible.	The markings are worn and unclear.
Battery and assembly	Clean the battery and the battery connection assembly with a clean, dry cloth. Verify the connection assembly operates smoothly. Check the battery for any signs of damage or misuse.	The battery connection is unstable resulting in the robot losing power.
Brake test	Conduct a brake test as described in Test braking distance. Adjust the environment, payload, or Protective field sets if necessary.	Robot may have an increased or unverified braking distance.
Caster wheels	Measure the diameter of the wheels, and replace them if the diameter is less than 122 mm. If your robot has cleanroom wheels, replace if the diameter is less than 123 mm. Check bearings by pressing against them and rotating them to feel any internal wear or damage. Check for flat areas on the wheels. If a wheel has a noticeably flat area replace all wheels. Replace all caster wheels together.	Robot cannot travel over large steps and gaps without scraping the bottom of the robot. Robot swerves more if the wheels are uneven sizes. Skidding (loss of traction). Loss of localization or localization jumps. Failing to complete missions and driving patterns that previously worked fine.
Drive wheels	Measure the diameter of the wheels, and replace them if the diameter is less than 190 mm. Calibrate the IMU after replacing the drive wheels.	Robot cannot travel over large steps and gaps without scraping the bottom of the robot. Robot swerves more if the wheels are uneven sizes. Localization becomes inaccurate due to inaccurately converted encoder data.

Yearly tasks

Parts	Maintenance	Symptoms of neglect
Information stickers	Check if the warning labels, identification label, and nameplate on the robot are still intact and visible.	The labels are worn and unclear.
Caster wheels and drive wheels	Replace caster wheels and drive wheels yearly, regardless of wear.	Unreliable docking performance. Skidding (loss of traction). Loss of localization or localization jumps. Failing to complete missions and driving patterns that previously worked fine.
ESD capability	Only relevant for ESD models. Check the robot's electrical resistance. If the resistance is above 1×10^9 Ω, clean the wheels and test the resistance again. If the resistance is still out of bounds, replace the drive wheels.	Robot does not discharge static electricity.

Replace Every 20 Years

Parts	Maintenance	Symptoms of neglect
Emergency stop buttons	Replace to ensure the reliability of the robot's safety functions.	Pressing the Emergency stop button does not bring the robot into Emergency stop.
Safety PLC	Replace to ensure the reliability of the robot's safety functions.	The robot begins reporting safety system errors.
STO and dynamic brake contactors	Replace to ensure the reliability of the robot's safety functions.	The robot begins reporting errors.
Mechanical brakes	Replace to ensure the reliability of the robot's safety functions.	The robot reports mechanical brake errors.
Safety laser scanners	Replace to ensure the reliability of the robot's safety functions. Replace as needed.	The robot does not detect obstacles reliably and reports safety laser scanner errors.
Manual brake release switch and control panel	Replace to ensure the reliability of the robot's safety functions.	The robot does not react to pressed buttons reliably or reports errors or false button states.