Universal Robots UR3 Service Manual page 49

5. Service and Replacement of Parts
8. Press Arm current joint to release the brake on the selected joint.
Use the Up and Down buttons in the Move window to rotate the joint to the correct zero position
according to the following illustrations.
Press STOP when the joint is in the correct position.
9. Zero position illustrations
Base:
Service Manual
Shoulder, Elbow, Wrist 1:
43 UR3