Universal Robots UR5 Service Manual page 34

6. Unmount screws around the upper arm as indicated on the illustration:
7. Pull away the Shoulder joint from upper arm.
Assemble
For details and photos please see:
1. Gently assembly the Shoulder joint with upper arm end mount screws into shoulder joint.
2. Tighten the 10 screws lightly, and then tighten in cross order with 2.6Nm.
3. Mount the alignment screw and tighten with 0.4Nm.
4. Connect ESD wristband
5. Reconnect wires correctly.
6. Twist the communication cable 1.5 to 2 full rounds before it is connected. (To reduce
electrical noise in the system)
UR5
General Guidance to Separate Joint from Counterpart
28
5. Service and Replacement of parts
Service Manual