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  • Compatibility of joints (CB-Series CB3 and e-Series)

Compatibility of joints (CB-Series CB3 and e-Series)

In this article you can find a clear and comprehensible table, that shows which joint sizes can be used on which robot on which position. For CB3 and e-Series.

Last modified on Feb 24, 2025

Created: July 20th, 2021.

Refers to: CB3 and e-Series spare parts compatibility

Note: CB3 and e-Series joints are NOT interchangeable between the two series. You can exchange joints only within the same series.

How to read: In the table below there are 3 columns (joint, useable as, and notes) 

First to the left is the joint you are having - In the middle is useable as, which means which other types you can use it as - Last, is comments where it is stated if the output flange needs to be turned or wirebundle needs to be replaced. OPF means output flange.


 

E-series

Note: It is not possible to use Size 3 joints manufactured before November 12, 2020 on UR10e e-Series robots (it can still be used on UR5e e-Series robots).

Note: In the case a wirebundle replacement is necessary, you can find attached to this article the guide on how to perform the procedure on each specific joint (Guide available only for e-Series).

 

UR3e

Useable as:  Comments:

Size 2 Base

  • UR3e Size 2 Shoulder
  • UR10e/16e Size 2 Wrist 1
  • UR10e/16e Size 2 Wrist 3
  • Wirebundle replacement (P/N: 103601) required if used as:
    • UR10e/16e Size 2 Wrist 1
    • UR10e/16e Size 2 Wrist 3

Size 2 Shoulder

  • UR3e Size 2 Base
  • UR10e/16e Size 2 Wrist 1
  • UR10e/16e Size 2 Wrist 3
  • Wirebundle replacement (P/N: 103601) required if used as:
    • UR10e/16e Size 2 Wrist 1
    • UR10e/16e Size 2 Wrist 3

Size 1 Elbow

  • UR5e Size 1 Wrist 1
  • UR5e Size 1 Wrist 3
  • Wirebundle replacement (P/N: 103601) required for all

Size 0 Wrist 1

  • UR3e Size 0 Wrist 3
  • Wirebundle replacement (P/N: 103601) required 

Size 0 Wrist 2

 

  • N/A
 

Size 0 Wrist 3 

  • UR3e Size 0 Wrist 1
  • Wirebundle replacement (P/N: 103601) required 
     
UR5e Useable as:   Comments:

Size 3 Base

  • UR5e Size 3 Shoulder
  • UR5e Size 3 Elbow
  • UR10e/16e Size 3 Elbow
 

Size 3 Shoulder

  • UR5e Size 3 Base
  • UR5e Size 3 Elbow
  • UR10e/16e Size 3 Elbow
 

Size 3 Elbow 

  • UR5e Size 3 Base
  • UR5e Size 3 Shoulder
  • UR10e/16e Size 3 Elbow
 

Size 1 Wrist 1 

  • UR3e Size 1 Elbow
  • UR5e Size 1 Wrist 3
  • Wirebundle replacement (P/N: 103602) required
Size 1 Wrist 2
  • N/A
 

Size 1 Wrist 3

  • UR3e Size 1 Elbow
  • UR5e Size 1 Wrist 1
  • Wirebundle replacement (P/N: 103602) required
     
UR10e/16e Useable as:  Comments:

Size 4 Base

  • UR10e/16e Size 4 Shoulder
 

Size 4 Shoulder

  • UR10e/16e Size 4 Base
 

Size 3 Elbow

  • UR5e Size 3 Base
  • UR5e Size 3 Shoulder
  • UR5e Size 3 Elbow
 

Size 2 Wrist 1

  • UR3e Size 2 Base
  • UR3e Size 2 Shoulder
  • UR10e/16e Size Wrist 3
  •  Wirebundle replacement (P/N: 103603) required
Size 2 Wrist 2
  • N/A
  • Wirebundle replacement required by Universal Robots service center.

Size 2 Wrist 3

  • UR3e Size 2 Base
  • UR3e Size 2 Shoulder
  • UR10e/16e Size Wrist 1
  •  Wirebundle replacement (P/N: 103603) required

 


CB-Series:

UR3

useable as:  Comments:

Size 2 Base

 

  • UR3 Size 2 Shoulder
  • 90°OPF turn required

Size 2 Shoulder

  • UR3 Size 2 Base
  • 90°OPF turn required

Size 1 Elbow

  • N/A
 

Size 0 Wrist 1

 

  • UR3 Size 0 Wrist 2
  • UR3 Size 0 Wrist 3
  • 180°OPF and wirebundle replacement (P/N: 200160) required if used as:
    • UR3 Size 0 Wrist 3

Size 0 Wrist 2

  • UR3 Size 0 Wrist 1
  • UR3 Size 0 Wrist 3
  • 180°OPF and wirebundle replacement (P/N: 200160) required if used as:
    • UR3 Size 0 Wrist 3

Size 0 Wrist 3 

  • UR3 Size 0 Wrist 1
  • UR3 Size 0 Wrist 2
  • 180°OPF and wirebundle replacement (P/N: 103500) required if used as:
    • UR3 Size 0 Wrist 1
    • UR3 Size 0 Wrist 2
     
UR5 Useable as:   Comments:

Size 3 Base

  • UR5 Size 3 Shoulder
  • UR5 Size 3 Elbow
  • UR10 Size 3 Elbow
  • 180°OPF required if used as:
    • UR5 Size 3 Elbow

Size 3 Shoulder

  • UR5 Size 3 Base
  • UR5 Size 3 Elbow
  • UR10 Size 3 Elbow
  • 180°OPF required if used as:
    • UR5 Size 3 Elbow

Size 3 Elbow 

  • UR5 Size 3 Base
  • UR5 Size 3 Shoulder
  • UR10 Size 3 Elbow
  • 180°OPF required if used as anything else.

Size 1 Wrist 1 

  • UR5 Size 1 Wrist 2
  • UR5 Size 1 Wrist 3
  • 180°OPF and wirebundle replacement (P/N: 103501) required if used as:
    • UR5 Size 1 Wrist 3

Size 1 Wrist 2

  • UR5 Size 1 Wrist 1
  • UR5 Size 1 Wrist 3
  • 180°OPF and wirebundle replacement (P/N: 103501) required if used as:
    • UR5 Size 1 Wrist 3

Size 1 Wrist 3

 

  • UR5 Size 1 Wrist 1
  • UR5 Size 1 Wrist 2 
  • 180°OPF and wirebundle replacement (P/N: 103501) required if used as:
    • UR5 Size 1 Wrist 1
    • UR5 Size 1 Wrist 2
     
UR10 Useable as:  Comments:

Size 4 Base

  • UR10 Size 4 Shoulder
 

Size 4 Shoulder

  • UR10 Size 4 Base
 

Size 3 Elbow

  • UR5 Size 3 Base
  • UR5 Size 3 Shoulder
  • UR5 Size 3 Elbow
  • ​180°OPF required if used as:
    • UR5 Size 3 Elbow

Size 2 Wrist 1

  • UR10 Size 2 Wrist 2
  • UR10 Size 2 Wrist 3
  • Wirebundle replacement (P/N: 103502) required if used as:
    • UR10 Size 2 Wrist 3

Size 2 Wrist 2

  • UR10 Size 2 Wrist 1
  • UR10 Size 2 Wrist 3
  • Wirebundle replacement (P/N: 103502) required if used as:
    • UR10 Size 2 Wrist 3

Size 2 Wrist 3

  • UR10 Size 2 Wrist 1
  • UR10 Size 2 Wrist 2
  • Wirebundle replacement (P/N: 103502) required if used as:
    • UR10 Size 2 Wrist 1
    • UR10 Size 2 Wrist 2

 

Attached files


Wire Bundle Kits E-series.pdf
Wire Bundle Mounting Size 0.pdf
Wire Bundle Mounting Size 1.pdf
Wire Bundle Mounting Size 2.pdf
Wire Bundle Mounting Size 3.pdf
Wire Bundle Mounting Size 4.pdf
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