Wrist 3 Joint - Wrist 2 Joint; Tool Flange - Wrist 3 Joint - Universal Robots UR5 Service Manual

3.1.13 Wrist 3 joint – Wrist 2 joint
Disassemble and assemble
Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and Wrist 1 joint,
consult chapter 3.1.12 Wrist 2 joint – Wrist 1 joint
3.1.14 Tool flange – Wrist 3 joint
Disassemble
For details and photos please see:
1. Shut down the controller.
2. Remove alignment screw.
3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint
housing.
4. Slide the grey Teflon ring back. 8 screws become visible, 4 on each side of joint. Loosen the screws with
a 5.5 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
5. Pull the tool flange and Wrist 3 joint apart and gently twist the two parts in opposite directions around
8 mm. until a mechanical stop is met (holes are keyhole-type).
6. Pull away the tool flange from Wrist 3 joint.
7. Connect ESD wristband
8. Disconnect the two connectors.
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3.1.4 General guidance to separate joint from counterpart
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