Universal Robots UR5 Service Manual page 35

With cb3-controller
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Pull away Wrist 2 joint from Wrist 3 joint.
 Wrist 2 joint and Wrist 3 joint has now been separated.
For separating Wrist 3 joint from tool flange, consult chapter
Replace Wrist 3 and gently insert Wrist 3 joint with screws and washers into Wrist 2 joint.
Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Wrist 2 joint and Wrist 3 joint in opposite directions until a mechanical stop is
met.
Tighten the 8 screws lightly, then tighten in cross order with 1.3Nm.
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 into Wrist 3.
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3.1.9 Replacement of tool
35
Servicemanual_UR5_en_rev3.0.2
flange.

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