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Tightening Torques for the screws at each joint

Last modified on Sep 16, 2025

Disclaimer: 
Do not perform joint replacements without thoroughly reviewing the newest version for the Service Manual. These procedures must only be carried out by personnel who have received certified training from UR. Unauthorized repairs or replacements performed without proper training may result in safety risks and can be considered a breach of warranty.

UR-series:

Service toolkit: 200121

 UR20

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

7.5Nm

 

Hex key 5

[J0] Base joint

 [J1] Shoulder joint

7.5Nm

 

Hex key 5

[J1] Shoulder joint

Upper arm

7.5Nm

 

Hex key 5

Upper arm

[J2] Elbow joint

7.5Nm

 

Hex key 5

[J2] Elbow joint

Elbow counter part

7.5Nm

 

Hex key 5

Elbow counter part

Lower arm

7.5Nm

 

Hex key 5

Lower arm

[J3] Wrist 1 joint

5.5Nm

 

Hex key 4

[J3] Wrist 1 joint

[J4] Wrist 2 joint

5.5Nm

 

Hex key 4

[J4] Wrist 2 joint

[J5] Wrist 3 joint

5.5Nm

 

Hex key 4

[J5] Wrist 3 joint

Tool

5.5Nm

 

Hex key 4

 

 UR30

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

7.5Nm

 

Hex key 5

[J0] Base joint

 [J1] Shoulder joint

7.5Nm

 

Hex key 5

[J1] Shoulder joint

Upper arm

7.5Nm

 

Hex key 5

Upper arm

[J2] Elbow joint

7.5Nm

 

Hex key 5

[J2] Elbow joint

Elbow counter part

7.5Nm

 

Hex key 5

Elbow counter part

Lower arm

7.5Nm

 

Hex key 5

Lower arm

[J3] Wrist 1 joint

5.5Nm

 

Hex key 4

[J3] Wrist 1 joint

[J4] Wrist 2 joint

5.5Nm

 

Hex key 4

[J4] Wrist 2 joint

[J5] Wrist 3 joint

5.5Nm

 

Hex key 4

[J5] Wrist 3 joint

Tool

5.5Nm

 

Hex key 4

 

 UR15

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

7.5Nm

 

Hex key 5

[J0] Base joint

 [J1] Shoulder joint

7.5Nm

 

Hex key 5

[J1] Shoulder joint

Upper arm

7.5Nm

 

Hex key 5

Upper arm

[J2] Elbow joint

4.0Nm

 

Hex key 4

[J2] Elbow joint

Elbow counter part

4.0Nm

 

Hex key 4

Elbow counter part

Lower arm

4.0Nm

 

Hex key 4

Lower arm

[J3] Wrist 1 joint

2.5Nm

 

Hex key 3 

[J3] Wrist 1 joint

[J4] Wrist 2 joint

2.5Nm

 

Hex key 3 

[J4] Wrist 2 joint

[J5] Wrist 3 joint

2.5Nm

 

Hex key 3 

[J5] Wrist 3 joint

Tool

2.5Nm

 

Hex key 3 

 

 UR8 Long

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

7.5Nm

 

Hex key 5

[J0] Base joint

 [J1] Shoulder joint

7.5Nm

 

Hex key 5

[J1] Shoulder joint

Upper arm

7.5Nm

 

Hex key 5

Upper arm

[J2] Elbow joint

4.0Nm

 

Hex key 4

[J2] Elbow joint

Elbow counter part

4.0Nm

 

Hex key 4

Elbow counter part

Lower arm

4.0Nm

 

Hex key 4

Lower arm

[J3] Wrist 1 joint

2.5Nm

 

Hex key 3 

[J3] Wrist 1 joint

[J4] Wrist 2 joint

2.5Nm

 

Hex key 3 

[J4] Wrist 2 joint

[J5] Wrist 3 joint

2.5Nm

 

Hex key 3 

[J5] Wrist 3 joint

Tool

2.5Nm

 

Hex key 3 

 

e-series:

Service toolkit: 200119

UR3e

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

3.0Nm

2.0Nm

Torx TX20

[J0] Base joint

 [J1] Shoulder joint

3.0Nm

2.0Nm

Torx TX20

[J1] Shoulder joint

Upper arm

3.0Nm

2.0Nm

Torx TX20

Upper arm

[J2] Elbow joint

1.3Nm

0.9Nm

Torx TX10

[J2] Elbow joint

Elbow counter part

1.3Nm

0.9Nm

Torx TX10

Elbow counter part

Lower arm

1.3Nm

0.9Nm

Torx TX10

Lower arm

[J3] Wrist 1 joint

1.3Nm

0.9Nm

Torx TX10

[J3] Wrist 1 joint

[J4] Wrist 2 joint

1.3Nm

0.9Nm

Torx TX10

[J4] Wrist 2 joint

[J5] Wrist 3 joint

1.3Nm

0.9Nm

Torx TX10

[J5] Wrist 3 joint

Tool FT sensor

1.3Nm

0.9Nm

Torx TX10

 

UR5e/UR7e

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

4.0Nm

 

Hex key 4mm.

[J0] Base joint

 [J1] Shoulder joint

4.0Nm

 

Hex key 4mm.

[J1] Shoulder joint

Upper arm

4.0Nm

 

Hex key 4mm.

Upper arm

[J2] Elbow joint

4.0Nm

 

Hex key 4mm.

[J2] Elbow joint

Elbow counter part

4.0Nm

 

Hex key 4mm.

Elbow counter part

Lower arm

4.0Nm

 

Hex key 4mm.

Lower arm

[J3] Wrist 1 joint

1.3Nm

0.9Nm

Torx TX10

[J3] Wrist 1 joint

[J4] Wrist 2 joint

1.3Nm

0.9Nm

Torx TX10

[J4] Wrist 2 joint

[J5] Wrist 3 joint

1.3Nm

0.9Nm

Torx TX10

[J5] Wrist 3 joint

Tool FT sensor

1.3Nm

0.9Nm

Torx TX10

 

UR10e/UR12e/UR16e

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

4.0Nm

 

Hex key 4mm

[J0] Base joint

 [J1] Shoulder joint

4.0Nm

 

Hex key 4mm

[J1] Shoulder joint

Upper arm

4.0Nm

 

Hex key 4mm

Upper arm

[J2] Elbow joint

4.0Nm

 

Hex key 4mm

[J2] Elbow joint

Elbow counter part

4.0Nm

 

Hex key 4mm

Elbow counter part

Lower arm

4.0Nm

 

Hex key 4mm

Lower arm

[J3] Wrist 1 joint

3.0Nm

2.0Nm

Torx TX20

[J3] Wrist 1 joint

[J4] Wrist 2 joint

3.0Nm

2.0Nm

Torx TX20

[J4] Wrist 2 joint

[J5] Wrist 3 joint

3.0Nm

2.0Nm

Torx TX20

[J5] Wrist 3 joint

Tool FT sensor

3.0Nm

2.0Nm

Torx TX20

 

CB3-series:

Service toolkit: 200120 (200119 for UR3 CB3)

UR3 CB3

Connection

 

Torque regular

Torque countersunk

Head Size

Base

[J0] Base joint

3.0Nm

2.0Nm

Torx TX20

[J0] Base joint

[J1] Shoulder joint

3.0Nm

2.0Nm

Torx TX20

[J1] Shoulder joint

Upper arm

3.0Nm

2.0Nm

Torx TX20

Upper arm

[J2] Elbow joint

1.3Nm

0.9Nm

Torx TX10

[J2] Elbow joint

Lower arm

1.3Nm

0.9Nm

Torx TX10

Lower arm

[J3] Wrist 1 joint

1.3Nm

0.9Nm

Torx TX10

[J3] Wrist 1 joint

[J4] Wrist 2 joint

1.3Nm

0.9Nm

Torx TX10

[J4] Wrist 2 joint

[J5] Wrist 3 joint

1.3Nm

0.9Nm

Torx TX10

[J5] Wrist 3 joint

Tool

1.3Nm

0.9Nm

Torx TX10

 

UR5 CB3

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

2.6Nm

 

7mm. Wrench

[J0] Base joint

 [J1] Shoulder joint

2.6Nm

 

7mm. Wrench

[J1] Shoulder joint

Upper arm

2.6Nm

 

Hex key 3mm.

Upper arm

[J2] Elbow joint

2.6Nm

 

Hex key 3mm..

[J2] Elbow joint

Elbow counter part

2.6Nm

 

7mm. Wrench

Lower arm

[J3] Wrist 1 joint

1.3Nm

 

5.5mm. Wrench

[J3] Wrist 1 joint

[J4] Wrist 2 joint

1.3Nm

 

5.5mm. Wrench

[J4] Wrist 2 joint

[J5] Wrist 3 joint

1.3Nm

 

5.5mm. Wrench

[J5] Wrist 3 joint

Tool

1.3Nm

 

5.5mm. Wrench

Alignment screw

 

0.4Nm

 

Torx TX10

 

UR10 CB3

Connection

 

Torque regular

Torque countersunk

Head Size

Base

 [J0] Base joint

8.0Nm

 

10mm. Wrench

[J0] Base joint

 [J1] Shoulder joint

8.0Nm

 

10mm. Wrench

[J1] Shoulder joint

Upper arm

8.0Nm

 

10mm. Wrench

Upper arm

[J2] Elbow joint

2.6Nm

 

7mm. Wrench

[J2] Elbow joint

Elbow counter part

2.6Nm

 

7mm. Wrench

Elbow counter part

Lower arm

2.6Nm

 

7mm. Wrench

Lower arm

[J3] Wrist 1 joint

1.3Nm

 

5.5mm. Wrench

[J3] Wrist 1 joint

[J4] Wrist 2 joint

1.3Nm

 

5.5mm. Wrench

[J4] Wrist 2 joint

[J5] Wrist 3 joint

1.3Nm

 

5.5mm. Wrench

[J5] Wrist 3 joint

Tool

1.3Nm

 

5.5mm. Wrench

Alignment screw

 

0.4Nm

 

Torx TX10