Wrist 1 Joint - Lower Arm - Universal Robots UR3 Service Manual

5. Service and Replacement of Parts
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.
NOTICE
Always replace the black flexible flat ring to maintain the IP classification.
1. Reconnect connectors.
2. 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
3. Orientate the joint and Elbow counterpart according to the marks and gently push them
together.
4. Gently tighten the screws, and then tighten in cross order with 1.3Nm.
5. Put the flat ring back on top of the screws.
6. Proceed to Dual Robot Calibration
5.2.10. Wrist 1 joint – Lower arm
Disassemble
For details and photos please see:
Service Manual
= 48V DC
= GND
= bus connector
for instructions on how to calibrate the robot.
General Guidance to Separate Joint from Counterpart
33 UR3