1. Connect ESD wristband
2. Replace tool flange and reconnect connectors as illustrated.
3. Twist the communication cable 1.5 to 2 full rounds before it is connected to reduce
electrical noise in the system.
4. Gently insert tool flange with screws and washers into the Wrist 3 joint.
5. 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.
6. Tighten the 8 screws lightly, and then tighten in cross order with 1.3Nm.
7. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
8. Mount the alignment screw and tighten with 0.4Nm.
9. Proceed to chapter Dual Robot Calibration for calibrating the robot.
5.2.15. Instructions for calibrating a joint
After replacement, calibration of the new joint is required in order to find the correct zero
position.
If it is possible (a dual robot calibration kit and second robot of the same model are available)
and necessary (highest possible positional accuracy, and minimal deviation from positions
taught prior to joint replacement are required), perform the Dual Robot Calibration Alternatively
perform a simple joint calibration as shown below.
Instructions for calibrating a joint:
1. Jog robot to HOME position
Service Manual 35 UR5
5.Service and Replacement of parts
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