Universal Robots ur3 Original Instructions Manual page 30

Tool flange – Wrist 3 joint: Assemble
For details and photos please see:
Connect ESD wristband.
1.
2. 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.
3. 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.
4. Reconnect connectors.
Twist the communication cable
connected. (To reduce electrical noise in the system)
1 x red wire
1 x yellow wire
White and green
5. Orientate the Tool flange and Wrist 3 joint according to the marks and gently push them together.
6. Place the plastic cover ring according to the mark on the flange.
7. Gently tighten the 6 screws, and then tighten
8. Slide the black teflon ring into place and gently put the flat ring back on top of the teflon ring.
9. 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.
30
for calibrating the robot.
Servicemanual_UR3_en_rev3.1.2