Universal Robots UR5 Service Manual page 44

• Pull away Wrist 1 joint from Wrist 2 joint.

Wrist 1 joint and Wrist 2 joint has now been separated. Perform same procedure for separating
Wrist 2 joint and Wrist 3 joint and proceed when done.

Replace Wrist 2 and gently insert Wrist 2 joint with screws and washers into Wrist 1 joint.

Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Wrist 1 joint and Wrist 2 joint in opposite directions until a mechanical stop is
met.

Tighten the 8 screws lightly, then tighten in cross order with 1.3Nm.

Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.

Mount the alignment screw and tighten with 0.4Nm.

Reconnect connectors as illustrated into Wrist 2 - remember to twist the communications wires

Mount blue lid on Wrist 2 joint and tighten with 0.4Nm.
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