Replacement Of Wrist 3 Joint - Universal Robots UR5 Service Manual

3.1.8 Replacement of Wrist 3 joint

How to replace Wrist 3 joint

Move robot to a comfortable position for replacing the joint. If necessary dismount entire robot
arm from work cell and place arm on solid surface.

Shut down the controller.

Remove blue lid on Wrist 3 joint.

Disconnect wires between Wrist 2 joint and Wrist 3 joint
2 x red wire
2 x black wire
Black connector
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= 48V DC
= GND
= bus cable
33 Servicemanual_UR5_en_rev3.0.2