  Aims. We aim to determine far-infrared fluxes at 70, 100, and 160$\mu$m of
the five major Uranus satellites Titania, Oberon, Umbriel, Ariel and Miranda,
based on observations with the photometer PACS-P aboard the Herschel Space
Observatory.
  Methods. The bright image of Uranus is subtracted using a scaled Uranus point
spread function (PSF) reference established from all maps of each wavelength in
an iterative process removing the superimposed moons. Photometry of the
satellites is performed by PSF photometry. Thermophysical models of the icy
moons are fitted to the photometry of each measurement epoch and auxilliary
data at shorter wavelengths.
  Results. The best fitting thermophysical models provide constraints for
important thermal properties of the moons like surface roughness and thermal
inertia. We present the first thermal infrared radiometry longward of 50$\mu$m
of the four largest Uranian moons, Titania, Oberon, Umbriel and Ariel, at
epochs with equator-on illumination. Due to this inclination geometry there was
heat transport to the night side so that thermal inertia played a role,
allowing us to constrain that parameter. Also some indication for differences
in the thermal properties of leading and trailing hemispheres is found. We
specify precisely the systematic error of the Uranus flux by its moons, when
using Uranus as a far-infrared prime flux calibrator.
  Conclusions. We have successfully demonstrated an image processing technique
for PACS photometer data allowing to remove a bright central source. We have
established improved thermophysical models of the five major Uranus satellites.
Derived thermal inertia values resemble more those of TNO dwarf planets Pluto
and Haumea than those of smaller TNOs and Centaurs.
