Universal Robots ur3 - Wrist 2 Joint

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3.1.12 Wrist 2 joint – Wrist 1 joint

Disassemble

For details and photos please see: 3.1.4 General guidance to separate joint from counterpart

1. Shut down the controller.

2. Remove blue lid on Wrist 2 and connect ESD wristband.

3. Disconnect wires between Wrist 1 joint and Wrist2 joint

without bending the printed circuit board.

The power supply connector has a lock that has to be engaged before it is pulled out of the printed

circuit board.

4. After disconnecting the wires gently remove black flexible flat ring with a tiny screwdriver and twist it

around the joint housing.

5. Remove the plastic cover ring. 6 screws become visible. Loosen the screws.

6. Pull the Wrist 2 joint and Wrist 1 joint gently apart.

Universal Robots ur3 - Wrist 2 Joint - Wrist 1 Joint