Universal Robots UR5 Service Manual page 41

With cb2-controller valid from robot s/n 2012208573/4

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

Gently insert Wrist 1 joint with screws and washers into the lower arm.



Make sure the washers are fully inserted and located on the correct side (this is important) before

gently twisting Wrist 1 joint and lower arm in opposite directions until a mechanical stop is met.



Tighten the 8 screws lightly, then tighten in cross order with 1.3Nm.



Gently put back the gasket.



Mount the alignment screw and tighten with 0.4Nm.



Reconnect wires between lower arm and Wrist 1 joint as illustrated - remember to twist the

communications wires



Mount blue lid on Wrist 1 joint and tighten with 0.4Nm.



Proceed to chapter

3.1.13 Joint calibration

for calibrating the joint.

Servicemanual_UR5_en_rev2.0.5

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