Universal Robots - 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.

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