All rights reserved 2 Servicemanual_UR10_en_3.1.3
Contents
1. General information................................................................................................................................ 4
1.1 Purpose.............................................................................................................................................. 4
1.2 Company details................................................................................................................................ 5
1.3 Disclaimer.......................................................................................................................................... 5
2 Preventive Maintenance ................................................................................................................................ 6
2.1 Controller .......................................................................................................................................... 6
2.1.1 Inspection plan, Safety Functions ........................................................................................ 6
2.1.2 Visual inspection .................................................................................................................. 8
2.1.3 Cleaning and replacement of filters..................................................................................... 8
2.2 Robot arm.......................................................................................................................................... 9
2.2.1 Visual inspection .................................................................................................................. 9
3. Service and Replacement of parts............................................................................................................... 10
3.1 Robot arm........................................................................................................................................ 10
3.1.1 Before returning any part to Universal Robots.................................................................. 10
3.1.2 Robot arm configuration................................................................................................... 11
3.1.3 Brake release...................................................................................................................... 12
3.1.4 General guidance to separate joint from counterpart ...................................................... 13
3.1.5 Torque values..................................................................................................................... 17
3.1.6 Base joint –Base mounting bracket .................................................................................. 18
3.1.7 Shoulder joint –Base joint................................................................................................. 20
3.1.8 Upper arm –Shoulder joint ............................................................................................... 22
3.1.9 Elbow joint –Upper arm .................................................................................................... 24
3.1.11 Wrist 1 joint –Lower arm ................................................................................................ 26
3.1.12 Wrist 2 joint –Wrist 1 joint.............................................................................................. 28
3.1.13 Wrist 3 joint –Wrist 2 joint.............................................................................................. 30
3.1.14 Tool flange –Wrist 3 joint................................................................................................ 30
3.1.15 Instructions for calibrating a joint.................................................................................... 32
3.1.16 Dual Robot calibration ..................................................................................................... 40
3.1.17 Change joint ID................................................................................................................. 41
3.1.18 Joint spare part adaptation.............................................................................................. 42
3.2 Controller ........................................................................................................................................ 44
