Universal Robots UR5 Service Manual page 39


Replace tool flange and reconnect connectors as illustrated.

Replace tool and reconnect wires correctly.

Gently insert tool flange with screws and washers into the Wrist 3 joint.

Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the tool flange 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.
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