Universal Robots UR10 Service Manual

All rights reserved 28 Servicemanual_UR10_en_3.1.3
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 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