Wrist 1 Joint - Lower Arm - Universal Robots UR5 Service Manual

Assemble
For details and photos please see:
1. Reconnect connectors
2. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
3. Gently insert Elbow joint with screws and washers into the Elbow counterpart.
4. Make sure the washers are fully inserted and flush against the head of the bolt (this is
important) before gently twisting the parts in opposite directions until a mechanical stop is
met.
5. Tighten the 10 screws lightly, and then tighten in cross order with 2.6Nm.
6. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
7. Mount the alignment screw and tighten with 0.4Nm.
8. Proceed to chapter
5.2.11. Wrist 1 joint – Lower arm
Disassemble
For details and photos please see:
UR5
General Guidance to Separate Joint from Counterpart
Dual Robot Calibration
General Guidance to Separate Joint from Counterpart
5. Service and Replacement of parts
for calibrating the robot.
30 Service Manual