Universal Robots UR5 Service Manual page 31


Unmount screws around the upper arm as indicated on the illustration:
• Pull away the Shoulder joint from upper arm.

Replace Shoulder joint and mount screws into shoulder joint.

Tighten screws lightly, then tighten in cross order with 3.0Nm.

Reconnect wires as illustrated - remember to twist the communications wires:

Mount blue lid on Base joint and tighten with 0.4Nm.

Proceed to chapter
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3.1.13 Joint calibration for calibrating the joint.
31 Servicemanual_UR5_en_rev2.0.5