Universal Robots CB Series Manual

Base zero position is aligned so the Base joint
is offset 180 degrees from the cable at the
back of the robot base.
Shoulder, Elbow and Wrist 1 zero output flange
vertically align (assuming Base is horizontal).
Make sure that Base of the robot is horizontal,
use spirit level to align joints.
Wrist 2 Wrist 3
Wrist 2 zero position is aligned like the Base
joint, with tool flange parallel with Wrist 1
output flange.
Wrist 3 zero position is aligned so the tool
connector is pointing upward. Mount two bolts
in tool holes and use spirit level to align joint.
6. In the Joint Zeroing window select the joint you want to zero. When selected the box will
change from gray to blue. Press Zero Joints
Service Manual 43 e-Series
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Universal Robots CB Series Specifications

General

Brand	Universal Robots
Model	CB Series
Category	Robotics
Language	English