Universal Robots UR3 Service Manual page 56

Adjust the joint orientation. See:
Changing the joint ID See
UR3
Instructions for Calibrating a Joint
Change joint ID
5. Service and Replacement of Parts
The Wrist 3 has the slipring for infinite
turning of the tool mounting bracket.
Cut the wires for the slipring
Unscrew the Slipring
(Use a T8 screwdriver)
Remove the Slipring gently
The removed slipring with screws
Parts for wrist 1 and wrist 2
Attach the plastic protection.
(Use a T6 screwdriver, Torque 0,32Nm)
Put the wires through the joint and attach
and assemble the connectors for the
communication and power.
There is no cable tie for this joint.
NB! Pull gently in each wire to be sure the
connector is attached correct in the
plastic part of the connector.
50 Service Manual