Universal Robots ur3 - Modify Wrist 3 to Wrist 1 or Wrist2

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3.1.19 Modify wrist 3 to Wrist 1 or wrist2
 Mechanical parts has to be replaced.
 The orientation of the output flange has to be changed
 The joint ID has to be modified.
Use the ESD guidelines for the modification of the wrist see: 3.2.1 Handling ESD-sensitive parts
The Wrist 3 has the slipring for infinite
turning of the tool mounting bracket.
Cut the wires for the slipring
Unscrew the Slipring
Remove the Slipring gently