1. Gently insert Wrist 1 joint with screws and washers into Wrist 2 joint.
2. 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.
3. Tighten the 8 screws lightly, and then tighten in cross order with 1.3Nm.
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Connect ESD wristband
7. Replace Wrist 1 and reconnect connectors as illustrated into Wrist 2.
Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
8. Mount blue lid on Wrist 1 joint and tighten with 0.4Nm.
9. Proceed to chapter Dual Robot Calibration for calibrating the robot.
5.2.13. Wrist 3 joint – Wrist 2 joint
Disassemble and assemble
Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and
Wrist 1 joint, consult chapter Wrist 2 joint – Wrist 1 joint
5.2.14. Tool flange – Wrist 3 joint
Disassemble
For details and photos please see: General guidance to separate joint from counterpart
Service Manual 33 UR5
5.Service and Replacement of parts
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