e-Series: changing a size 3 joint (UR5, UR10 & UR16)

Step-by-step instructions on how to change an e-Series size 3 joint
00:00 Step 1: Power off controller
00:10 Step 2: Unplug power cable
00:15 Step 3: Discharge power supply
00:20 Put on ESD-wristband before working on the robot
00:29 Step 4: Unscrew and remove lid
00:40 Step 5: Remove flat-ring
00:50 Step 6: Support joint before removing bracket
00:54 Step 7: Remove screws and brackets
01:12 Step 8: Unplug cables
01:35 Step 9: Pull out plugs
01:49 Step 10: Remove flat-ring
01:58 Step 11: Remove the screws and brackets
02:25 Step 12: Insert cables
02:50 Step 13: Slide the joint on the tube so it connects
02:57 Step 14: Put on the brackets
03:10 Tighten the brackets
03:40 Step 15: Reconnect cables
04:07 Step 16: Mount lids
04:18 Step 17: Slide flat-ring back in place
04:29 Step 18: Place robot in vertical position
04:34 Step 19: Connect all wires
04:52 Step 20: Assemble joints
05:10 Step 21: Put on brackets
05:19 Step 22: Tighten the brackets
05:54 Step 23: Slide the flat-ring back in place

[@JM_Tushe]

Awesome.

[@andreass.4037]

Hello, thank you for the video. Is it necessary to adjust the joint(koordinates) in the software after the change of the joint?

[@UniversalRobotsAcademy]

Hello Andreas. No, there is no need to change the waypoint coordinates, the new joint will take over it. There are some small tolerances between each joint manufacturing (less than 0.1mm), that if a high precision is needed after replacing, a Dual Robot Arm calibration can be performed or a TCP recalibration can be done. If you need further information, please contact your UR distributor or local UR support.

[@user-bp4qz5ps8m]

Hi. How do I order the UR5e Arm

[@UniversalRobotsAcademy]

You can find a distributor in your area here: www.universal-robots.com/distributors/