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Universal Robots ur3 Service Manual
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2.
Shut
do
wn
t
he
controll
e
r
and
di
s
c
on
nec
t
the
po
wer
cabl
e
,
open
the
c
ontro
l
l
e
r
c
abi
net
t
hen
ca
reful
l
y
rem
ov
e
al
l
pl
ugs
and
c
onnect
ors.
3.
Remove
t
he
5
torx
s
c
re
ws
and
foll
owed
by
the
al
um
i
num
c
over.
4.
Ca
reful
l
y
rem
o
ve
al
l
pl
ugs
and
c
onnect
ors
fro
m
t
he
S
afet
y
C
ontrol
Bo
ard.
Ser
vi
ce
Man
u
al
6
5
U
R3
5
.
Servi
c
e
an
d
Rep
la
cem
ent
of
P
ar
ts
Copyr
i
ght
©
2009–20
21
by
Un
i
ver
s
al
R
obot
s
A/S
.
Al
l
r
i
gh
t
s
re
s
e
r
ved.
70
72
Table of Contents
Default Chapter
3
Table of Contents
3
3 General Information
7
Purpose
7
Company Details
7
Disclaimer
7
Warning Symbols in this Manual
8
2 Content
9
4 Recommended Inspection Activities
9
Controller
9
Inspection Plan
9
Safety Functions
10
Visual Inspection
11
Cleaning and Replacement of Filters
11
Robot Arm
16
Inspection Plan
16
Functional Inspection
16
Visual Inspection
17
5 Service and Replacement of Parts
18
Handling ESD Sensitive Parts
18
Recommended Tools
21
Robot Arm
22
Before Returning any Part to Universal Robots
22
Robot Arm Configuration
23
Brake Release
23
General Guidance to Separate Joint from Counterpart
24
Torque Values
31
Base Joint - Base Mounting Bracket
33
Shoulder Joint - Base Joint
35
Upper Arm - Shoulder Joint
36
Elbow Counterpart - Elbow Joint
38
Wrist 1 Joint - Lower Arm
39
Wrist 2 Joint - Wrist 1 Joint
41
Wrist 3 Joint - Wrist 2 Joint
43
Tool Flange - Wrist 3 Joint
43
Instructions for Calibrating a Joint
46
Dual Robot Calibration
52
Change Joint ID
52
Joint Spare Part Adaptation
54
Modify Wrist 3 to Wrist 1 or Wrist2
55
Wire Bundle Installation Guide
57
Controller
67
Replacement of Motherboard
67
Replacement of Safety Control Board
69
Replacement of Teach Pendant
72
Replacement of 48V Power Supply
76
Replacement of 12V Power Supply
82
Replacement of Current Distributor
83
6 Software
85
Update Software
85
Update Joint Firmware
87
Using Magic Files
89
Backup of Data
90
Hardware Requirements
90
Software Requirements
91
How to Access Linux Partition from Windows
91
Copy the Data from CF-Card to UR-USB
92
7 Troubleshooting
99
Error Codes
99
LED Indicators and Fuses on Safety Control Board
204
Normal Startup Sequence for a Cb3.X UR3
205
Error Phenomena
206
Control Box: no CONTROLLER Displayed in Initializing
206
CABLE Displayed During Power up
207
Protective Stop
208
Power on Failure in Initializing
210
Checklist after a Collision
211
Communication to Joints and Tool
212
Complete Rebooting Sequence
213
Electrical Drawing
214
E-Plan Diagrams
218
Other manuals for Universal Robots ur3
Original Instructions
116 pages
Installation Guide
12 pages
4
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Universal Robots ur3 Specifications
General
Brand
Universal Robots
Model
ur3
Category
Robotics
Language
English
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