7. Mount blue lid on Shoulder joint and tighten with 0.4Nm.
8. Proceed to chapter Dual Robot Calibration 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 Upper arm – Shoulder joint
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
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