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Universal Robots ur3 User Manual
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ed
54
Servicemanual_UR3
_en_rev3.
1.2
4.
Carefully remove all plug
s and connectors.
5.
Remove 14 screws holding
the Safety Contr
ol Board.
6.
Replace Safety Control Boa
rd with new one and tighten the
14
screws to h
old the board
7.
Insert all connectors and pl
ugs in correct p
ositions. Eventua
lly see section
5.4.1 S
chematic overvi
ew
8.
Carefully attach the alumin
um cover, make sur
e to moun
t it correct and fix it with
t
he 5 screws.
53
55
Table of Contents
Default Chapter
2
Table of Contents
2
1 General Information
4
Purpose
4
Company Details
5
Disclaimer
5
2 Preventive Maintenance
6
Controller
6
Inspection Plan, Safety Functions
6
Visual Inspection of Controller
7
Cleaning and Replacement of Filters
7
Robot Arm
8
Visual Inspection of Robot Arm
8
3 Service and Replacement of Parts
9
Robot Arm
9
Before Returning any Part to Universal Robots Check
9
Robot Arm Configuration
10
Brake Release
11
General Guidance to Separate Joint from Counterpart
12
Torque Values
17
Base Joint - Base Mounting Bracket
18
Shoulder Joint - Base Joint
20
Upper Arm - Shoulder Joint
21
Elbow Joint - Upper Arm
22
Elbow Counterpart - Elbow Joint
23
Wrist 1 Joint - Lower Arm
25
Wrist 2 Joint - Wrist 1 Joint
27
Wrist 3 Joint - Wrist 2 Joint
29
Tool Flange - Wrist 3 Joint
29
Dual Robot Calibration and Joint Calibration
31
Instructions for Calibrating a Joint
32
Change Joint ID
40
Joint Spare Part Adaptation
42
Modify Wrist 3 to Wrist 1 or Wrist2
43
Controller
45
Handling ESD-Sensitive Parts
45
Replacement of Motherboard 3.1
49
Replacement of Safety Control Board (SCB)
52
Replacement of Teach Pendant
55
Replacement of 48V Power Supply
56
Replacement of 12V Power Supply
59
Replacement of Current Distributor
60
4 Software
61
Update Software
61
Update Joint Firmware
63
Using Magic Files
63
5 Troubleshooting
64
Error Codes
64
LED Indicators and Fuses on Safety Control Board
86
Error Phenomena
88
Controlbox: no CONTROLLER Displayed in Initializing
88
NO CABLE Displayed During Power up
89
Force Limit Protective Stop
90
Power on Failure in Initializing
91
Checklist after a Collision
94
Electrical Drawing
95
Schematic Overview
95
E-Plan Diagrams
100
6 Spare Parts
113
Spare Part List
113
Service Kit
114
7 Packing of Robot
115
All Rights Reserved Servicemanual_Ur3_En_Rev3.1.2
115
8 Changelog
116
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Universal Robots ur3 Specifications
General
Brand
Universal Robots
Model
ur3
Category
Robotics
Language
English
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