Universal Robots ur3 Original Instructions Manual page 28

Wrist 2 joint – Wrist 1 joint: Assemble
For details and photos please see:
1. Important note: remove residues of old Loctite in screw holes with a M3 tap tool for threads before
assembling the joint to get the correct torque on the new screws.
2. Important note: Always use new pre-coated screws when it is possible. If you have to assemble with
old screws carefully clean the screws and attach Loctite 648 on the screws before assembly.
3. Orientate the Wrist 2 joint and Wrist 1 joint according to the marks and gently push them together.
4. Gently tighten the 6 screws, and then tighten
5. Place the plastic cover ring according to the mark on the flange.
6. Gently put the flat ring back on top of the teflon ring.
Connect ESD wristband.
7.
Twist the communication cable
8.
connected. (To reduce electrical noise in the system)
1 x red wire
1 x black wire
White and black
9. After connection of the wires then mount the blue lid and tighten with
10. Proceed to chapter
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3.1.4 General guidance to separate joint from counterpart
1.5 to 2 full rounds before it is
= 48V DC
= GND
= bus connector
3.1.15 Dual Robot Calibration and Joint calibration.
in cross order with 1.3Nm.
28
0.4Nm.
for calibrating the robot.
Servicemanual_UR3_en_rev3.1.2