Universal Robots UR10 Service Manual page 18

Shoulder joint – Base joint: Assemble
For details and photos please see:
1. Gently insert Base joint with screws and washers into the Shoulder joint.
2. Make sure the washers are fully inserted and located on the correct side (this is important) before
gently twisting the Base joint and Shoulder joint in opposite directions until a mechanical stop is met.
3. Tighten the 10 screws lightly, and then tighten
4. Slide the grey Teflon ring in place and gently put back the flat ring on top of the Teflon ring.
5. Mount the alignment screw and tighten with
6. Reconnect connectors as illustrated.
Twist the communication wires
(To reduce electrical noise in the system)
7. Mount blue lid on Base joint and tighten with
8. Proceed to chapter
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3.1.3 General guidance to separate joint from counterpart
before they are connected.
3.1.14 Joint calibration
in cross order with 8.0Nm.
0.4Nm.
0.4Nm.
for calibrating the joint.
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