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Universal Robots UR5 Service Manual
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10
.
C
on
fi
rm
C
hang
e
ID
11
.
When
t
he
rob
ot
i
s
po
were
d
o
n
agai
n,
J5
wi
l
l
be
di
s
playe
d
as
J3
.
5.
2.
18.
Joint
S
pa
re
P
a
rt
A
da
pta
tion
The
U
R5
and
U
R10
consi
s
t
o
f
fou
r
di
ffere
nt
j
oint
s
i
zes
,
s
ome
of
whi
c
h
are
i
nt
erc
hangeabl
e
betwe
en
differe
nt
po
s
i
t
i
ons/rob
ots
.
Rec
omme
nd
ed
s
pare
j
oint
s
for
U
R5
and
U
R10
are
m
arked.
U
R5
4
4
Ser
vi
ce
Man
u
al
5
.
Servi
c
e
an
d
Rep
la
cem
ent
of
p
ar
ts
Copyr
i
ght
©
2009–20
21
by
Un
i
ver
s
al
R
obot
s
A/S
.
Al
l
r
i
gh
t
s
re
s
e
r
ved.
49
51
Table of Contents
Default Chapter
3
Table of Contents
3
3 General Information
7
Purpose
7
Company Details
7
Disclaimer
7
Warning Symbols in this Manual
8
2 Content
9
4 Recommended Inspection Activities
9
Controller
9
Inspection Plan
9
Safety Functions
10
Visual Inspection
11
Cleaning and Replacement of Filters
11
Robot Arm
16
Inspection Plan
16
Inspection Plan
17
Functional Inspection
17
Visual Inspection
17
5 Service and Replacement of Parts
19
Handling ESD Sensitive Parts
19
Recommended Tools
22
Robot Arm
23
Before Returning any Part to Universal Robots
23
Robot Arm Configuration
24
Brake Release
24
General Guidance to Separate Joint from Counterpart
25
Torque Values
29
Base Joint - Base Mounting Bracket
30
Shoulder Joint - Base Joint
31
Upper Arm - Shoulder Joint
33
Elbow Joint - Upper Arm
35
Elbow Counterpart - Elbow Joint
35
Wrist 1 Joint - Lower Arm
36
Wrist 2 Joint - Wrist 1 Joint
38
Wrist 3 Joint - Wrist 2 Joint
39
Tool Flange - Wrist 3 Joint
39
Instructions for Calibrating a Joint
41
Dual Robot Calibration
48
Change Joint ID
48
Joint Spare Part Adaptation
50
Wire Bundle Installation Guide
51
Controller
59
Replacement of Motherboard
59
Upgrade Motherboard 3.0 to
64
Replacement of Safety Control Board
70
Replacement of Teach Pendant
73
Replacement of 48V Power Supply
76
Replacement of 12V Power Supply
83
Replacement of Current Distributor
84
6 Software
86
Update Software
86
Update Joint Firmware
88
Using Magic Files
90
Backup of Data
91
Hardware Requirements
91
Software Requirements
92
How to Access Linux Partition from Windows
92
Copy the Data from CF-Card to UR-USB
93
7 Troubleshooting
100
Error Code
100
LED Indicators and Fuses on Safety Control Board
205
Normal Startup Sequence for a Cb3.X UR5
206
Error Phenomena
207
Control Box: no CONTROLLER Displayed in Initializing
207
CABLE Displayed During Power up
208
Protective Stop
208
Power on Failure in Initializing
210
Checklist after a Collision
212
Communication to Joints and Tool
213
Complete Rebooting Sequence
213
Other manuals for Universal Robots UR5
User Manual
223 pages
Original Instructions
193 pages
Installation Guide
12 pages
Manual
21 pages
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Universal Robots UR5 Specifications
General
Brand
Universal Robots
Model
UR5
Category
Robotics
Language
English
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