1. Orientate the Elbow joint and Upper arm according to the marks and gently push them
together.
2. Orientate the Wrist 2 joint and Wrist 1 joint according to the marks and gently push them
together.
3. Gently tighten the screws, and then tighten in cross order with 1.3Nm.
4. Place the plastic cover ring according to the mark on the flange.
5. Gently put the flat ring back on top of the Teflon ring.
6. Connect ESD wristband.
7. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
1 x red wire = 48V DC
1 x black wire = GND
White and black = bus connector
8. After connection of the wires then mount the blue lid and tighten with 0.4Nm.
9. Proceed to Dual Robot Calibration for instructions on how to calibrate the robot.
5.2.12. Wrist 3 joint – Wrist 2 joint
Disassemble and assemble
Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and
Wrist 1 joint, consult chapter Wrist 2 joint – Wrist 1 joint
5.2.13. Tool flange – Wrist 3 joint
Disassemble
For details and photos please see: General Guidance to Separate Joint from Counterpart
Service Manual 37 UR3
5.Service and Replacement of Parts
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