Universal Robots ur3 - Wrist 3 Joint - Wrist 2 Joint; Tool Flange

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3.1.13 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 3.1.12 Wrist 2 joint – Wrist 1 joint

3.1.14 Tool flange – Wrist 3 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 black flexible flat ring with a tiny screwdriver and twist it around the joint housing.

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

4. Connect ESD wristband.

5. Pull the Tool flange and Wrist 3 joint gently apart.

6. Disconnect wires.

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.

Universal Robots ur3 - Wrist 3 Joint - Wrist 2 Joint; Tool Flange - Wrist 3 Joint