Universal Robots UR10 Service Manual

All rights reserved 25 Servicemanual_UR10_en_3.1.3
Elbow counterpart – Elbow joint: assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Gently insert Elbow joint with screws and washers into the Elbow counterpart.
2. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten in cross order with 2.6-3.0Nm.
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with 0.4Nm.
6. Reconnect connectors as illustrated.
7. Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)
8. Mount blue lid on Elbow joint and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.

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