Universal Robots UR10 Service Manual page 33


Zero position illustrations
Base:
Base zero position is aligned so that the
output flange is offset 180 degree from
the cable in back of robot base.
Wrist 2:
Wrist 2 zero position is aligned similar
to Base joint, with tool flange parallel
with wrist
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Shoulder, Elbow, Wrist 1:
Shoulder, Elbow and Wrist 1 zero output flange is
vertical aligned (if Base if horizontal).
Make sure that base of robot is horizontal, use
spirit level to align joints.
Wrist 3:
Wrist 3 zero position is aligned so tool connector
is pointing upward.
Mount two bolts in tool holes and use spirit level
to align joint.
33 Servicemanual_UR10_en_3.1.1