Universal Robots UR10 Service Manual

All rights reserved 37 Servicemanual_UR10_en_3.1.3
9. Zero position illustrations
Base: Shoulder, Elbow, Wrist 1:
Base zero position is aligned so that the Shoulder, Elbow and Wrist 1 zero output flange is
output flange is offset 180 degrees from vertical aligned (if Base if horizontal).
the cable in back of robot base. Make sure that base of robot is horizontal, use
spirit level to align joints.
Wrist 2: Wrist 3:
Wrist 2 zero position is aligned similar Wrist 3 zero position is aligned so tool connector
to Base joint, with tool flange parallel is pointing upward.
with wrist Mount two bolts in tool holes and use spirit level
to align 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