Universal Robots UR10 Service Manual

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3.1.16 Dual Robot calibration
Dual Robot Calibration kit (Part no: 185500)
Dual Robot Calibration is a calibration that calibrates the robot in the full work space. All robots are Dual
Robot Calibrated when they are produced.
If a joint has been replaced on a calibrated robot the calibration is not correct anymore.
There are 2 options:
- Performing a Dual Robot Calibration after replacement of a joint will let the robot continue in the
production line without modifying waypoints in the robot program. To perform a Dual Robot
Calibration, you need: 2 robots (same size and same generation), calibration Horse and calibration
tool connector.
Go to http://www.universal-robots.com/support/ for downloading CalibrationManual.pdf.
- Joint calibration described in this section: After replacing a joint a zero position of the joint can be
adjusted but the calibration level form the Dual Robot Calibration cannot be achieved. Adjustments
of waypoints in the program should be expected.

Universal Robots UR10 Specifications

General

Payload	10 kg
Reach	1300 mm
Degrees of Freedom	6
Weight	28.9 kg
Footprint	190 mm diameter
Repeatability	±0.1 mm
IP Classification	IP54
Programming	Polyscope graphical user interface
Joint Range	±360° on all joints
Power Consumption	350 W
Communication Interface	Ethernet, Modbus TCP
Safety Standards	EN ISO 10218-1
Operating Voltage	100-240 VAC, 50-60 Hz