General Guidance To Separate Joint From Counterpart - Universal Robots UR10 Service Manual

3.1.3 General guidance to separate joint from counterpart

Disassemble:
1. Shut down the controller.
2. Move the robot to a comfortable position for disassembly. If necessary dismount entire robot arm
from work cell and place on a solid surface.
3. Remove blue lid.
4. Now screw back one of the lid screws into a pol. Clip on your ESD wristband/alligator clip as shown
below.
5. Disconnect wires.
6. Remove alignment screw.
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