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
1.4 Warning Symbols in this Manual ....................................................................................................... 6
2. Preventive Maintenance .............................................................................................................................. 7
2.1 Controller .......................................................................................................................................... 7
2.1.1 Inspection plan, Safety Functions ........................................................................................ 7
2.1.2 Visual inspection .................................................................................................................. 9
2.1.3 Cleaning and replacement of filters ................................................................................... 10
2.2 Robot arm ........................................................................................................................................ 11
2.2.1 Visual inspection ................................................................................................................ 11
3. Service and Replacement of parts ............................................................................................................... 12
3.0.0 Handling ESD-sensitive parts ............................................................................................. 12
3.0.1 Recommended Tools ........................................................................................................ 15
3.1 Robot arm ........................................................................................................................................ 16
3.1.1 Before returning any part to Universal Robots .................................................................. 16
3.1.2 Robot arm configuration .................................................................................................... 17
3.1.3 Brake release ...................................................................................................................... 18
3.1.4 General guidance to separate joint from counterpart ...................................................... 19
3.1.5 Torque values ..................................................................................................................... 23
3.1.6 Base joint - Base mounting bracket .................................................................................. 24
3.1.7 Shoulder joint - Base joint ................................................................................................. 26
3.1.8 Upper arm - Shoulder joint ............................................................................................... 28
3.1.9 Elbow joint - Upper arm .................................................................................................... 30
3.1.10 Elbow counterpart - Elbow joint ..................................................................................... 30
3.1.11 Wrist 1 joint - Lower arm ................................................................................................ 32
3.1.12 Wrist 2 joint - Wrist 1 joint .............................................................................................. 34
3.1.13 Wrist 3 joint - Wrist 2 joint .............................................................................................. 36
3.1.14 Tool flange - Wrist 3 joint ................................................................................................ 36
3.1.15 Instructions for calibrating a joint .................................................................................... 38
3.1.16 Dual Robot Calibration. .................................................................................................... 46
3.1.17 Change joint ID ................................................................................................................. 47
3.1.18 Joint spare part adaptation .............................................................................................. 48
3.1.19 Wire bundle installation guide ......................................................................................... 50
All rights reserved 2 Servicemanual_UR5_en_3.2.0