For details and photos please see: General Guidance to Separate Joint from Counterpart
1. Shut down the controller.
2. Remove blue lid on Shoulder joint and connect ESD wristband.
3. Disconnect wires between Shoulder joint and Upper arm.
Without bending the printed circuit board.
4. After disconnecting the wires gently remove black flexible flat ring with a tiny screwdriver
and twist it around the Upper arm. Loosen the screws.
5. Pull the Shoulder joint and Upper arm gently apart.
Assemble
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. Orientate the Base joint and Shoulder joint according to the marks and gently push them
together.
2. Gently tighten the screws, and then tighten in cross order with 3.0Nm.
3. Slide the black Teflon ring into place and gently put the flat ring back on top of the Teflon
ring.
Service Manual 31 UR3
5.Service and Replacement of Parts
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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