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