Shoulder Joint - Base Joint - Universal Robots UR10 Service Manual

3.1.6 Shoulder joint – Base joint
Disassemble
For details and photos please see:
1. Shut down the controller.
2. Remove blue lid on Base joint.
3. Connect ESD wristband
4. Disconnect wires between Base joint and Shoulder joint
2 x red wire
2 x black wire
Black connector
5. Remove alignment screw
6. Gently remove black flexible flat ring between Base and Shoulder with a tiny screwdriver or similar tool
and twist it around the joint housing.
7. 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.
8. Pull the Base joint and Shoulder joint apart and gently twist the two parts in opposite directions around
10 mm. until a mechanical stop is met (holes are keyhole-type).
9. Pull away the Base joint from Shoulder joint.
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3.1.3 General guidance to separate joint from counterpart
= 48V DC
= GND
= bus cable (NB: polarized)
17 Servicemanual_UR10_en_3.1.1