All rights reserved 21 Servicemanual_UR10_en_3.1.3
Shoulder joint – Base joint: Assemble
For details and photos please see: 3.1.4 General guidance to separate joint from counterpart
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 in cross order with 8.0Nm.
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 0.4Nm.
6. Reconnect connectors as illustrated.
7. Twist the communication cable 1.5 to 2 full rounds before it is connected.
(To reduce electrical noise in the system)
8. Mount blue lid on Base joint and tighten with 0.4Nm.
10. Proceed to chapter 3.1.16 Dual Robot calibration for calibrating the robot.
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