Universal Robots UR10 - Wrist 3 Joint - Wrist 2 Joint; Tool Flange

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3.1.13 Wrist 3 joint – Wrist 2 joint

Disassemble and assemble

Procedure for separating Wrist 3 joint from Wrist 2 is similar to separation of Wrist 2 joint and Wrist 1 joint,

consult chapter 3.1.12 Wrist 2 joint – Wrist 1 joint

3.1.14 Tool flange – Wrist 3 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 alignment screw.

3. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the joint

housing.

4. 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.

5. Pull the tool flange and Wrist 3 joint apart and gently twist the two parts in opposite directions around

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

6. Pull away the tool flange from Wrist 3 joint.

7. Connect ESD wristband.

8. Disconnect the two connectors.

Universal Robots UR10 - Wrist 3 Joint - Wrist 2 Joint; Tool Flange - Wrist 3 Joint