Joint Spare Part Adaptation Cb2 - Universal Robots UR5 Service Manual

3.1.15 Joint spare part adaptation CB2.

The UR5 and UR10 are constructed of 4 joint sizes and have to be setup on the robot:
Recommended spare joints for UR5 and UR10 are marked with:
Robot:
Wrist 3: ID =5 Size 1
Alignment screw
Wrist 2: ID =4 Size 1
Wrist 1: ID =3 Size 1
Elbow: ID =2 Size 3
Shoulder: ID =1 Size 3
Base: ID =0 Size 3
NB! To use UR5 base as UR5 Elbow it is necessary to change ID and then connect the joints electrically then
turn the joint 180 degree in low level control, before mechanical assemble joint.
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UR5
Size 2
Size 2
Size 2
Size 3
NB
!
Size 4
Size 4
62
UR10
Power connector UR10 Wrist 3
Power connector UR10
Wrist 1 & 2
Base: Communication
cable with double isolation
Servicemanual_UR5_en_rev2.0.5
+