1.4. Mounting Instructions
Front Tilted
Figure 1.2: The workspace of the robot. The robot can work in an appoximate
sphere (Ø170cm) around the base, except for a cylindrical volume directly
above and directly below the robot base.
1.4 Mounting Instructions
The robot consists essentially of six robot joints and two aluminum tubes, con-
necting the robot’s base with the robot’s tool. The robot is built so that the tool
can be translated and rotated within the robot’s workspace. The next subsec-
tions describes the basic things to know when mounting the different parts of
the robot system.
1.4.1 The Workspace of the Robot
The workspace of the UR-6-85-5-A robot extends to 850 mm from the base joint.
The workspace of the robot is shown in figure 1.2. It is important to consider the
cylindrical volume directly above and directly below the robot base when a
mounting place for the robot is chosen. Moving the tool close to the cylindrical
volume should be avoided if possible, because it causes the robot joints to move
fast even though the tool is moving slowly.
1.4.2 Mounting the Robot
The robot is mounted using 4 M8 bolts, using the four 8.5mm holes on the robot’s
base. If very accurate repositioning of the robot is desired, two Ø8 holes are
provided for use with a pin. Figure 1.3 shows where to drill holes and mount the
screws.
1.4.3 Mounting the Tool
The robot tool flange has four holes for attaching a tool to the robot. A drawing
of the tool flange is shown in figure 1.4.
12 UR-6-85-5-A
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