Replacing Robot Arm Joints

Description

The replacement procedure applies to all joints, tool mounting brackets, and tool mounting brackets with force/torque sensor.

For detailed information on how to safely perform service-related operations and troubleshooting, refer to the Universal Robots service manuals at universal-robots.com/download.

For direct support, create a support ticket on our customer portal, MyUR @ https://myur.universal-robots.com/.

Warnings

Unsupported joints can fall, or be dropped, resulting in injury

  • Support joints while screws are being removed.

Failure to support the joint/s while screws are removed can result in damage to equipment.

  • Prevent the joint/s from falling while removing clamps or screws by doing any of the following:

  • Use something to support underneath the part that is coming off.

  • Disassemble the joint while it is laying down.

  • Support with lifting equipment.

Failure to test the new joint after replacement can lead to damage to property and/or equipment.

  • Always perform a joint replacement test before using a new joint. See the Joint Verification section in the Service Manual for more information.

  • Joints should be assembled in a vertical position to ensure proper mating between the joints.

Connections

There are two different ways the joints are assembled.

Screw Connection

Clamp Connection

Head Size

Torque

 

Head Size

Torque

Torx T10

0.9Nm for countersunk screws

+0,10Nm

 

 

Hex key 4

4.0Nm

+0.50Nm

 

-0.10Nm

-0.50Nm

Torx T20

2.0Nm for countersunk screws

+0.30Nm

 

 

 

-0.30Nm

 
Robot Joints

Screw connection location

UR3e

UR5e

UR10e and UR16e

Clamp connection location

UR5e

UR10e and UR16e