1. Shut down the controller.
2. Remove alignment screw.
3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it
around the joint housing.
4. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen
the screws with a 7 mm. open-ended spanner about two full turns, approximately 3 mm. for
each screw.
5. Pull the base plate and Base joint apart and gently twist the two parts in opposite
directions around 10 mm. until a mechanical stop is met (holes are keyhole-type).
For details and photos please see:
General Guidance to Separate Joint from Counterpart
1. Replace base plate and reconnect wires according to illustration:
2.
Twist the communication cable
1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
3. Gently insert base plate with screws and washers into the Base joint.
4. Make sure the washers are fully inserted and flush against the head of the bolt (this is
important) before gently twisting the parts in opposite directions until a mechanical stop is
met.
5. Gently tighten the 10 screws, and then tighten
in cross order with 2.6Nm
.
6. Slide the grey Teflon ring into place and gently put the flat ring back on top of the Teflon
ring.
7. Mount the alignment screw and tighten with
0.4Nm.
8. Mount blue lid on Base joint and tighten with
0.4Nm.
9. Proceed to chapter
for calibrating the robot.
5.2.7. Shoulder joint – Base joint
Disassemble
For details and photos please see:
General Guidance to Separate Joint from Counterpart
Service Manual
25
UR5
5. Service and Replacement of parts
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