Universal Robots UR10 Service Manual page 31

Tool flange – Wrist 3 joint: Assemble
For details and photos please see:
1. Connect ESD wristband
2. Replace tool flange and reconnect connectors as illustrated.
Twist the communication cable
3.
connected (To reduce electrical noise in the system)
4. Gently insert tool flange with screws and washers into the Wrist 3 joint.
5. Make sure the washers are fully inserted and flush against the head of the bolt (this is important)
before gently twisting the parts in opposite directions until a mechanical stop is met.
6. Tighten the 10 screws lightly, and then tighten
7. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
8. Mount the alignment screw and tighten with
9. Proceed to chapter
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3.1.4 General guidance to separate joint from counterpart
1.5 to 2 full rounds before it is
3.1.16 Dual Robot calibration
in cross order with 1.3Nm.
0.4Nm.
for calibrating the robot.
31 Servicemanual_UR10_en_3.1.3