Universal Robots UR5 Service Manual page 20


Pull Elbow joint and lower arm apart and gently twist the two parts in opposite directions around
10 mm. until a mechanical stop is met (holes are keyhole-type).
• Pull away the Elbow joint from lower arm.

Disconnect wires between Elbow joint and lower arm
1 x red wire
1 x black wire
Green connector

Replace Elbow joint and reconnect wires between Elbow joint and lower arm accordingly.

Gently insert lower arm with screws and washers into the Elbow joint.

Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Elbow joint and lower arm in opposite directions until a mechanical stop is met.

Tighten the 10 screws lightly, then tighten in cross order with respectively 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.
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= 48V DC
= GND
= bus cable
20 Servicemanual_UR5_en_rev3.0.2