7. Mount blue lid on Shoulder joint and tighten with 0.4Nm.
8. Proceed to chapter
for calibrating the robot.
5.2.9. Elbow joint – Upper arm
Disassemble and assemble
Procedure for separating Elbow joint from Upper arm is similar to separation of Upper arm and
Shoulder joint, consult chapter
5.2.10. Elbow counterpart – Elbow joint
Disassemble
For details and photos please see:
General Guidance to Separate Joint from Counterpart
1. Shut down the controller.
2. Remove alignment screw.
3. Gently remove black flexible flat ring between Elbow and Elbow counterpart 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 Elbow joint and Elbow counterpart apart and gently twist the two parts in opposite
directions around 10 mm. until a mechanical stop is met (holes are keyhole-type).
6. Pull away the Elbow joint from Elbow counterpart.
7. Disconnect wires between base plate and Base joint.
1 x red wire
= 48V DC
1 x black wire
= GND
Black connector
= bus cable (note connector orientation)
Service Manual
29
UR5
5. Service and Replacement of parts
C
o
p
yr
ig
h
t
©
2
0
0
9
–
2
0
2
1
b
y
U
n
iv
e
rs
a
l
R
o
b
o
ts
A
/S
.
A
ll
ri
g
h
ts
re
s
e
rv
e
d
.