All rights reserved 30 Servicemanual_UR3_en_rev3.1.2
Tool flange – Wrist 3 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Connect ESD wristband.
2. Important note: remove residues of old Loctite in screw holes with a M3 tap tool
for threads before assembling the joint to get the correct torque on the new
screws.
3. Important note: Always use new pre-coated screws when it is possible. If you have to assemble with
old screws carefully clean the screws and attach Loctite 648 on the screws before assembly.
4. Reconnect connectors.
Twist the communication cable 1.5 to 2 full rounds before it is
connected. (To reduce electrical noise in the system)
1 x red wire = 48V DC
1 x yellow wire = GND
White and green = bus connector
5. Orientate the Tool flange and Wrist 3 joint according to the marks and gently push them together.
6. Place the plastic cover ring according to the mark on the flange.
7. Gently tighten the 6 screws, and then tighten in cross order with 1.3Nm.
8. Slide the black teflon ring into place and gently put the flat ring back on top of the teflon ring.
9. Proceed to chapter 3.1.15 Dual Robot Calibration and Joint calibration. for calibrating the robot.
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