CB-series: Replacing a joint 

Step-by-step instructions on how to replace a CB-series joint
Dismount joint:
00:05 Step 1: Shutdown robot
00:17 Step 2: Disconnect power
00:22 Step 3: Put on ESD-wristband
01:11 Step 4: Unscrew lid
01:31 Step 5: Disconnect power cables
01:44 Step 6: Remove communication connector
01:58 Step 7: Remove gasket flatring
02:21 Step 8: Loosen bolts
03:07 Step 9: Remove joint
Mount new joint:
03:26 Step 10: Insert cables
03:37 Step 11: Mount joint
03:49 Step 12: Check washers
03:57 Step 13: Tighten bolts
05:22 Step 14: Fully tighten bolts
05:58 Step 15: Reconnect power and communication cables
06:15 Step 16: Tighten lid
06:33 Step 17: Place sealing ring