7. Reconnect connectors as illustrated.
8. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system)
9. Mount blue lid on Base joint and tighten with 0.4Nm.
Proceed to chapter Dual Robot Calibration for calibrating the robot.
5.2.8. Upper arm – Shoulder joint
Disassemble
For details and photos please see: General Guidance to Separate Joint from Counterpart
1. Shut down the controller.
2. Remove blue lid on Shoulder joint.
3. Connect ESD wristband
4. 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)
5. Remove alignment screw
Service Manual 27 UR5
5.Service and Replacement of parts
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