All rights reserved 29 Servicemanual_UR10_en_3.1.3
Wrist 2 joint – Wrist 1 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Gently insert Wrist 1 joint with screws and washers into Wrist 2 joint.
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 1.3Nm.
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. Connect ESD wristband
7. Replace Wrist 1 and reconnect connectors as illustrated into Wrist 2.
8. Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)
9. Mount blue lid on Wrist 1 joint and tighten 2 pc M3x6 and 1 pc M3x10 with 0.4Nm.
10. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.
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