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5.2.14. Instructions for Calibrating a Joint 40

5.2.15. Dual Robot Calibration 46

5.2.16. Change joint ID 46

5.2.17. Joint Spare Part Adaptation 48

5.2.18. Modify Wrist 3 to Wrist 1 or Wrist2 49

5.2.19. Wire bundle installation guide 51

5.3. Controller 61

5.3.1. Replacement of Motherboard 3.1 61

5.3.2. Replacement of Safety Control Board 63

5.3.3. Replacement of Teach Pendant 66

5.3.4. Replacement of 48V power supply 70

5.3.5. Replacement of 12V power supply 76

5.3.6. Replacement of Current distributor 77

6.Software 79

6.1. Update software 79

6.2. Update joint firmware 81

6.3. Using Magic files 83

6.4. Backup of data 84

6.4.1. Hardware Requirements 84

6.4.2. Software Requirements 85

6.4.3. How to Access Linux Partition from Windows 85

6.4.4. Copy the data from CF-card to UR-USB 86

7.Troubleshooting 93

7.1. Error codes 93

7.2. LED indicators and Fuses on Safety Control Board 198

7.3. Normal startup sequence for a CB3.x UR3 199

7.4. Error phenomena 200

7.4.1. Control Box: NO CONTROLLER displayed in Initializing 200

7.4.2. NO CABLE displayed during power up 201

7.4.3. Protective stop 202

7.4.4. Power on failure in Initializing 204

7.4.5. Checklist after a collision 205

7.4.6. Communication to joints and tool 206

7.4.7. Complete rebooting sequence. 207

7.5. Electrical drawing 208

7.6. E-Plan diagrams 212

UR3 Service Manual

Universal Robots ur3 Service Manual

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