Universal Robots UR5 Service Manual page 28


Gently insert Wrist 1 joint with screws and washers into the lower arm.

Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting Wrist 1 joint and lower arm in opposite directions until a mechanical stop is met.
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Tighten the 8 screws lightly, then tighten in cross order with 1.3Nm.

Gently put back the gasket.

Mount the grease plug and tighten with 0.8Nm.

Reconnect wires between lower arm and Wrist 1 joint as illustrated

Mount blue lid on Wrist 1 joint and tighten with 0.5Nm.
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Proceed to chapter
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3.1.11 Joint calibration for calibrating the joint.
28 Servicemanual_UR5_en_rev3.0.2