All rights reserved 31 Servicemanual_UR10_en_3.1.3
Tool flange – Wrist 3 joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
1. Connect ESD wristband
2. Replace tool flange and reconnect connectors as illustrated.
3. Twist the communication cable 1.5 to 2 full rounds before it is
connected (To reduce electrical noise in the system)
4. Gently insert tool flange with screws and washers into the Wrist 3 joint.
5. 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.
6. Tighten the 10 screws lightly, and then tighten in cross order with 1.3Nm.
7. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
8. Mount the alignment screw and tighten with 0.4Nm.
9. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.
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