Wrist 1 Joint - Lower Arm - Universal Robots UR10 Service Manual

3.1.11 Wrist 1 joint – Lower arm
Disassemble
For details and photos please see:
the controller.
1. Remove blue lid on Wrist 1 joint.
2. Connect ESD wristband
3. Disconnect wires between lower arm and Wrist 1 joint.
1 x red wire
1 x black wire
Black connector
4. Remove alignment screw.
5. Gently remove black flexible gasket between lower arm and Wrist 1 joint with a tiny screwdriver or
similar tool and twist it around the lower arm.
6. 10 screws become visible, 5 on each side of joint. Loosen the screws with a 5.5 mm. open-ended
spanner about two full turns, approximately 3 mm. for each screw.
7. Pull the lower arm and Wrist 1 joint apart and gently twist the two parts in opposite directions around
8 mm. until a mechanical stop is met (holes are keyhole-type).
8. Pull away the lower arm from Wrist 1 joint.
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3.1.4 General guidance to separate joint from counterpart
= 48V DC
= GND
= bus cable (NB: polarized)
26
Shut down
Servicemanual_UR10_en_3.1.3