All rights reserved 22 Servicemanual_UR10_en_3.1.3
3.1.8 Upper arm – Shoulder joint
Disassemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Shut down the controller.
2. Remove blue lid on Shoulder joint.
3. Connect ESD wristband
4. Disconnect wires between Upper arm and Shoulder joint
1 x red wire = 48V DC
1 x black wire = GND
Black connector = bus cable (NB: polarized)
5. Remove alignment screw.
6. Gently remove black flexible gasket between Upper arm and Shoulder with a tiny screwdriver or similar
tool and twist it around the upper arm.
7. 10 screws become visible, 5 on each side of joint.
Untighten gently the screw with a 10 mm. open-ended spanner about two full rounds, approximately 3
mm. for each screw.
8. Pull the Shoulder joint and upper arm apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
9. Pull away the Shoulder joint from upper arm.
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