UR5e wrist 3 replacement

Technical Questions
1

Hello everyone,

I have a UR5e robot which I’m using for machine tending applications. To be more specific, the robot is responsible for the process of loading and unloading parts from a CNC machine. I had some issues with wrist 3 (the one near the tool flange) since the robot is permanently exposed to emulsion and swarf (CNC chips). I disassembled the robot’s wrist and took it to a service shop. I was told that the wrist’s bearings were very worn. Long story short, they sent me back the wrist and they said it is functional now. I did install it back on the robot and followed the instructions from the manual. However, my question is the following one. Do I must do anything specific such as calibration, joint zeroing or reconfigure the features/plans within my program? I hope all of these things are not necessarily since it would be a total headache. Like I said previously, the wrist was installed back on the robot and the robot’s movement is good.

Thank you,

Victor.

2

It is recommended to have the robot recalibrated (dual robot calibration) when replacing a joint, but it’s often fine not to do it.

You might have to adjust positions in the program, though, but you won’t know this before you run the program.

3

What about a software update? Is that necessarily if you replace a joint?

4

No. It could be on really old robots (<2012), but not the e-series.