Universal Robots UR10 Service Manual page 14

7. Disconnect wires
8. Remove alignment screw.
9. Gently remove black flexible flat ring with a tiny screwdriver or similar tool and twist it around the
joint housing.
10. Slide the grey Teflon ring back.
10 screws become visible, 5 on each side of joint.
Loosen the screws with an open-ended spanner approximately two full turns each.
11. Pull the two parts apart and gently twist them in opposite directions around 10 mm, until a
mechanical stop is met (holes are keyhole-type). They can then be completely separated.
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