CB-series: Changing a size 1 joint (UR5)

Step-by-step instructions on how to change a size 1 joint
00:05 step 1: Shutdown robot
00:17 step 2: Disconnect power
00:24 step 3: Discharge the PSU
00:28 step 4: Put on ESD-wristband
00:37 step 5: Unscrew and remove lid
00:48 step 6: Attach ESD-wristband
00:53 step 7: Unscrew and remove lid
01:01 step 8: Remove alignment screw
01:19 step 9: Disconnect cables
01:31 step 10: Remove flatring
01:46 step 11: Loosen screws
01:56 step 12: Pull the two parts apart
02:09 step 13: Align joints
02:15 step 14: Insert cables
02:29 step 15: Mount joint
02:35 step 16: Check washers
02:40 step 17: Tighten screws
02:49 step 18: Tighten to correct torque value
03:08 step 19: Reconnect cables
03:24 step 20: Put flatring back on
03:47 step 21: Mount the lids