Universal Robots UR-6-85-5-A Service Manual page 19

Exchange of encoders
1. Disconnect power
2. Blue cap has to be removed
3. Dismounting of plugs
Dismantle encoder.
The bracket that the encoder is mounted on
Is replaced with the new type.
Remove hub with encoder disk
Mount New hub, mount new encoder disk,
Shim / End slices is to be mounted with "UR marks up"
Encoder sensor is mounted on the new bracket.
Side 19 af 26
UR-FK 2011