Universal Robots 2014350001, Service Manual, Page: 3 / 238

2. Content
1. Service Manual 2
2. Content 3
3. General Information 1
3.1. Purpose 1
3.2. Company Details 1
3.3. Disclaimer 1
3.4. Warning Symbols in this Manual 2
4. Recommended Inspection Activities 3
4.1. Controller 3
4.1.1. Inspection Plan 3
4.1.2. Safety Functions 4
4.1.3. Visual Inspection 5
4.1.4. Cleaning and Replacement of Filters 5
4.2. Robot Arm 10
4.2.1. Inspection plan 10
4.2.2. Inspection Plan 11
4.2.3. Functional Inspection 11
4.2.4. Visual Inspection 11
5. Service and Replacement of parts 13
5.1. Handling ESD Sensitive Parts 13
5.1.1. Recommended Tools 16
5.2. Robot Arm 17
5.2.1. Before returning any part to Universal Robots 17
5.2.2. Robot Arm Configuration 18
5.2.3. Brake Release 18
5.2.4. General Guidance to Separate Joint from Counterpart 19
5.2.5. Torque Values 23
5.2.6. Base Joint – Base Mounting Bracket 24
5.2.7. Shoulder joint – Base joint 25
5.2.8. Upper arm – Shoulder joint 27
5.2.9. Elbow joint – Upper arm 29
5.2.10. Elbow counterpart – Elbow joint 29
5.2.11. Wrist 1 joint – Lower arm 30
5.2.12. Wrist 2 joint – Wrist 1 joint 32
Service Manual UR5
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