All rights reserved 2 Servicemanual_UR3_en_rev3.1.2
Contents
1. General information .................................................................................................................................. 4
1.1 Purpose .................................................................................................................................................... 4
1.2 Company details ...................................................................................................................................... 5
1.3 Disclaimer ................................................................................................................................................ 5
2. Preventive Maintenance ............................................................................................................................... 6
2.1 Controller ................................................................................................................................................. 6
2.1.1 Inspection plan, Safety Functions ..................................................................................................... 6
2.1.2 Visual inspection of controller .......................................................................................................... 7
2.1.3 Cleaning and replacement of filters ................................................................................................. 7
2.2 Robot arm ................................................................................................................................................ 8
2.2.1 Visual inspection of robot arm ......................................................................................................... 8
3. Service and Replacement of parts ................................................................................................................ 9
3.1 Robot arm ................................................................................................................................................ 9
3.1.1 Before returning any part to Universal Robots check: ..................................................................... 9
3.1.2 Robot arm configuration ................................................................................................................ 10
3.1.3 Brake release .................................................................................................................................. 11
3.1.4 General guidance to separate joint from counterpart ................................................................... 12
3.1.5 Torque values ................................................................................................................................. 17
3.1.6 Base joint – Base mounting bracket ............................................................................................... 18
3.1.7 Shoulder joint – Base joint .............................................................................................................. 20
3.1.8 Upper arm – Shoulder joint ............................................................................................................ 21
3.1.9 Elbow joint – Upper arm ................................................................................................................. 22
3.1.10 Elbow counterpart – Elbow joint .................................................................................................. 23
3.1.11 Wrist 1 joint – Lower arm ............................................................................................................. 25
3.1.12 Wrist 2 joint – Wrist 1 joint .......................................................................................................... 27
3.1.13 Wrist 3 joint – Wrist 2 joint .......................................................................................................... 29
3.1.14 Tool flange – Wrist 3 joint ............................................................................................................ 29
3.1.15 Dual Robot Calibration and Joint calibration. ............................................................................... 31
3.1.16 Instructions for calibrating a joint ................................................................................................ 32
3.1.17 Change joint ID ............................................................................................................................. 40
3.1.18 Joint spare part adaptation .......................................................................................................... 42
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