Universal Robots UR5 Service Manual page 34


Gently remove black flexible flat ring between Wrist 2 and Wrist 3 with a tiny screwdriver or similar
tool and twist it around the joint housing.

Slide the grey Teflon ring apart.
8 screws become visible, 5 on each side of joint.
Untighten gently the screws with a 5.5 mm. open-ended spanner about two full rounds,
approximately 3 mm. for each screw.

Pull Wrist 2 joint and Wrist 3 joint apart and gently twist the two parts in opposite directions
around 8 mm. until a mechanical stop is met (holes are keyhole-type).
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