3.3. Robot Control
3.3.4 Setup → Mounting
Here the mounting of the robot can be specified. This serves two purposes:
1. Making the robot look right on the screen.
2. Telling the controller about the direction of gravity.
The controller uses an advanced dynamics model to give the robot smooth
and precise motions, and to make the robot hold itself when backdriven. For
this reason, it is important that the mounting of the robot is set correctly.
The default is that the robot is mounted on a flat table or floor, in which case
no change is needed on this screen. However, if the robot is ceiling mounted,
wall mounted or mounted at an angle this can be adjusted using the push-
buttons. The buttons on the right side of the screen are for setting the angle of
the robot’s mounting. The three top right side buttons set the angle to ceiling
(180
◦
), wall (90
◦
), floor (0
◦
). The Tilt buttons can be used to set an arbitrary an-
gle. The buttons on the lower part of the screen are used to rotate the mounting
of the robot to match the actual mounting.
42 UR-6-85-5-A
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