Universal Robots UR10 Service Manual

All rights reserved 2 Servicemanual_UR10_en_3.1.3
Contents
1. General information ................................................................................................................................ 4
1.1 Purpose.............................................................................................................................................. 4
1.2 Company details ................................................................................................................................ 5
1.3 Disclaimer .......................................................................................................................................... 5
2 Preventive Maintenance ................................................................................................................................ 6
2.1 Controller .......................................................................................................................................... 6
2.1.1 Inspection plan, Safety Functions ........................................................................................ 6
2.1.2 Visual inspection .................................................................................................................. 8
2.1.3 Cleaning and replacement of filters ..................................................................................... 8
2.2 Robot arm .......................................................................................................................................... 9
2.2.1 Visual inspection .................................................................................................................. 9
3. Service and Replacement of parts ............................................................................................................... 10
3.1 Robot arm ........................................................................................................................................ 10
3.1.1 Before returning any part to Universal Robots .................................................................. 10
3.1.2 Robot arm configuration ................................................................................................... 11
3.1.3 Brake release ...................................................................................................................... 12
3.1.4 General guidance to separate joint from counterpart ...................................................... 13
3.1.5 Torque values ..................................................................................................................... 17
3.1.6 Base joint – Base mounting bracket .................................................................................. 18
3.1.7 Shoulder joint – Base joint ................................................................................................. 20
3.1.8 Upper arm – Shoulder joint ............................................................................................... 22
3.1.9 Elbow joint – Upper arm .................................................................................................... 24
3.1.11 Wrist 1 joint – Lower arm ................................................................................................ 26
3.1.12 Wrist 2 joint – Wrist 1 joint .............................................................................................. 28
3.1.13 Wrist 3 joint – Wrist 2 joint .............................................................................................. 30
3.1.14 Tool flange – Wrist 3 joint ................................................................................................ 30
3.1.15 Instructions for calibrating a joint .................................................................................... 32
3.1.16 Dual Robot calibration ..................................................................................................... 40
3.1.17 Change joint ID ................................................................................................................. 41
3.1.18 Joint spare part adaptation .............................................................................................. 42
3.2 Controller ........................................................................................................................................ 44

Universal Robots UR10 Specifications

General

Payload	10 kg
Reach	1300 mm
Degrees of Freedom	6
Weight	28.9 kg
Footprint	190 mm diameter
Repeatability	±0.1 mm
IP Classification	IP54
Programming	Polyscope graphical user interface
Joint Range	±360° on all joints
Power Consumption	350 W
Communication Interface	Ethernet, Modbus TCP
Safety Standards	EN ISO 10218-1
Operating Voltage	100-240 VAC, 50-60 Hz