Universal Robots UR3 Service Manual page 42

1. Shut down the controller.
2. Remove blue lid on Wrist 2 and connect ESD wristband.
3. Disconnect wires between Wrist 1 joint and Wrist2 joint
without bending the printed circuit board. Some connectors have a lock that must be
engaged before it is pulled out of the printed circuit board.
Example below.
4. After disconnecting the wires gently remove black flexible flat ring with a tiny screwdriver
and twist it around the joint housing.
5. Pull the Wrist 2 joint and Wrist 1 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.
NOTICE
Always replace the black flexible flat ring to maintain the IP classification.
UR3
General Guidance to Separate Joint from Counterpart
36
5. Service and Replacement of Parts
Service Manual