Table Of Contents - Universal Robots UR5 Service Manual

Contents
1. General information ........................................................................................................................................ 4
1.1 Purpose...................................................................................................................................................... 4
1.2 Company details ........................................................................................................................................ 5
1.3 Disclaimer .................................................................................................................................................. 5
2. Preventive Maintenance ................................................................................................................................. 6
2.1 Controller .................................................................................................................................................. 6
2.1.1 Inspection plan, Safety Functions ................................................................................................ 6
2.1.2 Visual inspection .......................................................................................................................... 6
2.1.3 Cleaning and replacement of filters ............................................................................................. 7
2.2 Robot arm .................................................................................................................................................. 8
2.2.1 Visual inspection .......................................................................................................................... 8
3. Service and Replacement of parts................................................................................................................... 9
3.1 Robot arm .................................................................................................................................................. 9
3.1.1 Robot arm configuration ............................................................................................................ 10
3.1.2 Brake release .............................................................................................................................. 11
3.1.3 IMPORTANT - Replacing CB2 joints with CB3 sparePart joints .................................................. 12
3.1.4 Replacement of Base mounting bracket .................................................................................... 24
3.1.5 Replacement of Base joint ......................................................................................................... 27
3.1.6 Replacement of Shoulder joint .................................................................................................. 30
3.1.7 Replacement of Elbow joint ....................................................................................................... 32
3.1.8 Replacement of Wrist 1 joint ..................................................................................................... 36
3.1.9 Replacement of Wrist 2 joint ..................................................................................................... 42
3.1.10 Replacement of Wrist 3 joint ................................................................................................... 46
3.1.11 Replacement of tool mounting bracket ................................................................................... 50
3.1.12 Torque values ........................................................................................................................... 53
3.1.13 Joint calibration ........................................................................................................................ 54
3.1.14 Change joint ID ......................................................................................................................... 60
3.1.15 Joint spare part adaptation CB2. ............................................................................................. 62
3.2 Controller ................................................................................................................................................ 63
3.2.1 Handling ESD-sensitive parts ..................................................................................................... 63
3.2.2 Replacement of Teach pendant ................................................................................................. 64
3.2.3 Replacement of Masterboard .................................................................................................... 66
3.2.4 Replacement of Motherboard ................................................................................................... 67
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