OnRobot UR CB3 Series - Page 78

Internal mounting with QC connector on the A side
Coordinate system TCP [mm] Center of Gravity [mm] Weight
X=0
Y= - 12 + (Tool Z value)
Z= 63 - (Tool Y value)
RX=90°
RY=0°
RZ=0°
cX=0
cY= - 55 - (Tool Z value)
cZ= 63 + (Tool Y value)
0.207 kg
0.456 lb
Example with an RG2 tool:
TCP [mm]
Center of Gravity [mm]
X=0
Y= - 12 + 200 = 188
Z= 63 - 0 = 63
RX=90°
RY=0°
RZ=0°
cX=0
cY= -12 + 64 = 52
cZ=63 - 0 = 63
HARDWARE SPECIFICATION
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