Tightening Torques for the screws at each joint
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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |