Change Joint Id - Universal Robots UR10 Service Manual

3.1.17 Change joint ID

Each joint has a unique ID no. It is NOT possible to have two joints with the same ID no. on the same robot.
ID Joint
J0 Base
J1 Shoulder
J2 Elbow
J3 Wrist 1
J4 Wrist 2
J5 Wrist 3
Example:
Wrist 1 (J3) has to be replaced. Spare joint is a Wrist 3 (J5)
1. Disconnect the joint with correct ID no.
2. Enter Low Level Control
3. Press Turn power on and the connected joints turn into BOOTLOADER
4. Press Go to Idle and the connected joints turn into READY
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