Universal Robots ur3 Original Instructions Manual page 3

3.1.19 Modify wrist 3 to Wrist 1 or wrist2 .............................................................................................. 43
3.2 Controller ............................................................................................................................................... 45
3.2.1 Handling ESD-sensitive parts .......................................................................................................... 45
3.2.2 Replacement of motherboard 3.1 .................................................................................................. 49
3.2.3 Replacement of Safety Control Board (SCB) ................................................................................... 52
3.2.4 Replacement of teach pendant ...................................................................................................... 55
3.2.5 Replacement of 48V power supply ................................................................................................. 56
3.2.6 Replacement of 12V power supply ................................................................................................. 59
3.2.7 Replacement of current distributor................................................................................................ 60
4. Software .................................................................................................................................................. 61
4.1 Update software .................................................................................................................................... 61
4.2 Update joint firmware ........................................................................................................................... 63
4.3 Using Magic files .................................................................................................................................... 63
5. Troubleshooting ...................................................................................................................................... 64
5.1 Error codes............................................................................................................................................. 64
5.2 LED indicators and Fuses on Safety Control Board.......................................................................... 86
5.3 Error phenomena .................................................................................................................................. 88
5.3.1 ControlBox: NO CONTROLLER displayed in Initializing ................................................................... 88
5.3.2 NO CABLE displayed during power up ............................................................................................ 89
5.3.3 Force limit protective stop ............................................................................................................. 90
5.3.4 Power on failure in Initializing ........................................................................................................ 91
5.3.5 Checklist after a collision ................................................................................................................ 94
5.4 Electrical drawing ............................................................................................................................ 95
5.4.1 Schematic overview ........................................................................................................................ 95
5.4.2 E-Plan diagrams ............................................................................................................................ 100
6 Spare parts ............................................................................................................................................. 113
6.1 Spare part list ....................................................................................................................................... 113
6.2 Service kit............................................................................................................................................. 114
7 Packing of robot ..................................................................................................................................... 115
8 Changelog .............................................................................................................................................. 116
8.1 Changelog ............................................................................................................................................ 116
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