Torque Values

Description

Always refer to the newest version of the service manual when disassembling and assembling any part of the robot arm and the control box.

Always use the specified torque values for the joint connections.

Click the torque tools a minimum of three times before use, to get the correct calibrated torque.

Joint screw tightening torques below match Universal Robots service guidance (service toolkit 200119).

UR3e

From	To	Torque (regular)	Torque (countersunk)	Head size
Base	[J0] Base joint	3.0 Nm	2.0 Nm	Torx TX20
[J0] Base joint	[J1] Shoulder joint	3.0 Nm	2.0 Nm	Torx TX20
[J1] Shoulder joint	Upper arm	3.0 Nm	2.0 Nm	Torx TX20
Upper arm	[J2] Elbow joint	1.3 Nm	0.9 Nm	Torx TX10
[J2] Elbow joint	Elbow counter part	1.3 Nm	0.9 Nm	Torx TX10
Elbow counter part	Lower arm	1.3 Nm	0.9 Nm	Torx TX10
Lower arm	[J3] Wrist 1 joint	1.3 Nm	0.9 Nm	Torx TX10
[J3] Wrist 1 joint	[J4] Wrist 2 joint	1.3 Nm	0.9 Nm	Torx TX10
[J4] Wrist 2 joint	[J5] Wrist 3 joint	1.3 Nm	0.9 Nm	Torx TX10
[J5] Wrist 3 joint	Tool FT sensor	1.3 Nm	0.9 Nm	Torx TX10

UR5e / UR7e

From	To	Torque (regular)	Torque (countersunk)	Head size
Base	[J0] Base joint	4.0 Nm	—	Hex key 4 mm
[J0] Base joint	[J1] Shoulder joint	4.0 Nm	—	Hex key 4 mm
[J1] Shoulder joint	Upper arm	4.0 Nm	—	Hex key 4 mm
Upper arm	[J2] Elbow joint	4.0 Nm	—	Hex key 4 mm
[J2] Elbow joint	Elbow counter part	4.0 Nm	—	Hex key 4 mm
Elbow counter part	Lower arm	4.0 Nm	—	Hex key 4 mm
Lower arm	[J3] Wrist 1 joint	1.3 Nm	0.9 Nm	Torx TX10
[J3] Wrist 1 joint	[J4] Wrist 2 joint	1.3 Nm	0.9 Nm	Torx TX10
[J4] Wrist 2 joint	[J5] Wrist 3 joint	1.3 Nm	0.9 Nm	Torx TX10
[J5] Wrist 3 joint	Tool FT sensor	1.3 Nm	0.9 Nm	Torx TX10

UR10e / UR12e / UR16e

From	To	Torque (regular)	Torque (countersunk)	Head size
Base	[J0] Base joint	4.0 Nm	—	Hex key 4 mm
[J0] Base joint	[J1] Shoulder joint	4.0 Nm	—	Hex key 4 mm
[J1] Shoulder joint	Upper arm	4.0 Nm	—	Hex key 4 mm
Upper arm	[J2] Elbow joint	4.0 Nm	—	Hex key 4 mm
[J2] Elbow joint	Elbow counter part	4.0 Nm	—	Hex key 4 mm
Elbow counter part	Lower arm	4.0 Nm	—	Hex key 4 mm
Lower arm	[J3] Wrist 1 joint	3.0 Nm	2.0 Nm	Torx TX20
[J3] Wrist 1 joint	[J4] Wrist 2 joint	3.0 Nm	2.0 Nm	Torx TX20
[J4] Wrist 2 joint	[J5] Wrist 3 joint	3.0 Nm	2.0 Nm	Torx TX20
[J5] Wrist 3 joint	Tool FT sensor	3.0 Nm	2.0 Nm	Torx TX20