6. Unmount screws around the upper arm as indicated on the illustration:
7. Pull away the Shoulder joint from upper arm.
Assemble
For details and photos please see: General Guidance to Separate Joint from Counterpart
1. Gently assembly the Shoulder joint with upper arm end mount screws into shoulder joint.
2. Tighten the 10 screws lightly, and then tighten in cross order with 2.6Nm.
3. Mount the alignment screw and tighten with 0.4Nm.
4. Connect ESD wristband
5. Reconnect wires correctly.
6. Twist the communication cable 1.5 to 2 full rounds before it is connected. (To reduce
electrical noise in the system)
UR5 28 Service Manual
5.Service and Replacement of parts
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