Assemble
For details and photos please see: General Guidance to Separate Joint from Counterpart
1. Reconnect connectors
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 Elbow joint with screws and washers into the Elbow counterpart.
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. Tighten the 10 screws lightly, and then tighten in cross order with 2.6Nm.
6. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
7. Mount the alignment screw and tighten with 0.4Nm.
8. Proceed to chapter Dual Robot Calibration for calibrating the robot.
5.2.11. Wrist 1 joint – Lower arm
Disassemble
For details and photos please see: General Guidance to Separate Joint from Counterpart
UR5 30 Service Manual
5.Service and Replacement of parts
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