Universal Robots UR10 - Wrist 2 Joint

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3.1.12 Wrist 2 joint – Wrist 1 joint

Disassemble

For details and photos please see: 3.1.4 General guidance to separate joint from counterpart Shut down

the controller.

1. Remove blue lid on Wrist 1 joint.

2. Connect ESD wristband

3. Disconnect wires between Wrist 1 joint and Wrist 2 joint

1 x red wire = 48V DC

1 x black wire = GND

Black connector = bus cable (NB: polarized)

4. Remove alignment screw.

5. Gently remove black flexible flat ring between Wrist 1 and Wrist 2 with a tiny screwdriver or similar tool

and twist it around the joint housing.

6. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws

with a 5.5 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.

7. Pull Wrist 1 joint and Wrist 2 joint apart and gently twist the two parts in opposite directions around 8

mm. until a mechanical stop is met (holes are keyhole-type).

8. Pull away Wrist 1 joint from Wrist 2 joint.

Universal Robots UR10 - Wrist 2 Joint - Wrist 1 Joint