Upper Arm - Shoulder Joint - Universal Robots UR3 Service Manual

4. After disconnecting the wires gently remove black flexible flat ring with a tiny screwdriver
and twist it around the joint housing.
5. Slide back the black Teflon ring. screws become visible. Loosen the screws.
6. Pull the Base joint and Shoulder joint gently apart.
Assemble
For details and photos please see:
WARNING
Remove Loctite residue inform screw holes using an M3 (M4 for Size 2) tap tool
for threads before assembling the joint to get the correct torque on the new
screws.
Always use new pre-coated screws where possible. If you must assemble with
old screws carefully clean the screws and apply Loctite 243 to the threads before
assembly.
1. Orientate the Base joint and Shoulder joint according to the marks and gently push them
together.
2. Gently tighten the screws, and then tighten in cross order with 3.0Nm.
3. Slide the black Teflon ring into place and gently put the flat ring back on top of the Teflon
ring.
4. Connect ESD wristband.
5. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
1 x red wire
1 x black wire
White and black
6. After connection of the wires then mount the blue lid and tighten with 0.4Nm.
7. Proceed to Dual Robot Calibration
5.2.8. Upper arm – Shoulder joint
Disassemble
UR3
General Guidance to Separate Joint from Counterpart
= 48V DC
= GND
= bus connector
for instructions on how to calibrate the robot.
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5. Service and Replacement of Parts
Service Manual