Upper Arm - Shoulder Joint - Universal Robots UR10 Service Manual

3.1.8 Upper arm – Shoulder joint
Disassemble
For details and photos please see:
1. Shut down the controller.
2. Remove blue lid on Shoulder joint.
3. Connect ESD wristband
4. Disconnect wires between Upper arm and Shoulder joint
1 x red wire
1 x black wire
Black connector
5. Remove alignment screw.
6. Gently remove black flexible gasket between Upper arm and Shoulder with a tiny screwdriver or similar
tool and twist it around the upper arm.
7. 10 screws become visible, 5 on each side of joint.
Untighten gently the screw with a 10 mm. open-ended spanner about two full rounds, approximately 3
mm. for each screw.
8. Pull the Shoulder joint and upper arm apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
9. Pull away the Shoulder joint from upper arm.
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3.1.4 General guidance to separate joint from counterpart
= 48V DC
= GND
= bus cable (NB: polarized)
22 Servicemanual_UR10_en_3.1.3