Universal Robots UR5 Service Manual page 16

• Pull away the Base joint from Shoulder joint.

Replace Base joint and gently insert Base joint with screws and washers into the Shoulder joint.

Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Base joint and Shoulder joint in opposite directions until a mechanical stop is
met.

Tighten the 10 screws lightly, then tighten in cross order with 3.0Nm.

Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.

Mount the grease plug and tighten with 0.8Nm.

Reconnect connectors as illustrated.

Mount blue lid on Base joint and tighten with 0.5Nm.

Proceed to chapter
All rights reserved
3.1.11 Joint calibration for calibrating the joint.
16 Servicemanual_UR5_en_rev3.0.2