Universal Robots UR10 Service Manual page 20

Upper arm – Shoulder joint: Assemble
For details and photos please see:
1. Gently insert Shoulder joint with screws and washers into the upper arm.
2. 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.
3. Tighten the 10 screws lightly, and then tighten
4. Gently put back the gasket.
5. Mount the alignment screw and tighten with
6. Connect ESD wristband
7. Reconnect wires correctly.
Twist the communication wires
(To reduce electrical noise in the system)
8. Mount blue lid on Shoulder joint and tighten with
9. 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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