Elbow Joint - Upper Arm - Universal Robots UR10 Service Manual

3.1.9 Elbow joint – Upper arm
Disassemble and assemble
Procedure for separating Elbow joint from Upper arm is similar to separation of Upper arm and Shoulder
joint, consult chapter 3.1.8 Upper arm – Shoulder joint
Disassemble
For details and photos please see:
1. Shut down the controller.
2. Remove blue lid on Elbow counterpart.
3. Disconnect wires between Elbow joint and Elbow counterpart
1 x red wire
1 x black wire
Black connector
4. Remove alignment screw.
5. Gently remove black flexible flat ring between Elbow and Elbow counterpart with a tiny screwdriver or
similar tool and twist it around the joint housing.
6. Slide the grey Teflon ring back. 10 screws become visible, 5 on each side of joint. Loosen the screws
with a 7 mm. open-ended spanner about two full turns, approximately 3 mm. for each screw.
7. Pull Elbow joint and Elbow counterpart apart and gently twist the two parts in opposite directions
around 10 mm. until a mechanical stop is met (holes are keyhole-type).
8. Pull away the Elbow joint from Elbow counterpart.
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3.1.4 General guidance to separate joint from counterpart
= 48V DC
= GND
= bus cable (NB: polarized)
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