Universal Robots UR3 Service Manual page 44

1. Shut down the controller.
2. Remove black flexible flat ring with a tiny screwdriver and twist it around the joint housing.
3. Remove the plastic cover ring. screws become visible. Loosen the screws.
4. Connect ESD wristband.
5. Pull the Tool flange and Wrist 3 joint gently apart.
6. Disconnect wires.
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:
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.
UR3
General Guidance to Separate Joint from Counterpart
38
5. Service and Replacement of Parts
Service Manual