Universal Robots ur3 Service Manual

5.2.15. Dual Robot Calibration
Dual Robot Calibration kit (Part no: 185500)
The Dual Robot Calibration process calibrates the robot across its full workspace. All robots are
Dual Robot Calibrated before leaving the factory.
If a joint has been replaced, then the factory calibration is no longer valid.
There are 2 options:
• Performing a Dual Robot Calibration after replacement of a joint will allow the robot to
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 www.universal-robots.com/support/ration Manual in PDF format.
• Simple Joint calibration (as described in Instructions of calibrating a joint). After replacing
a joint the zero position of the joint can be adjusted but the quality of calibration will not be
as good as that achieved by the Dual Robot Calibration method. Adjustment of program
waypoints will likely be required.
5.2.16. Change joint ID
Each joint has a unique ID no. Having two joints with the same ID on a robot will cause
communication problems and the robot will not be able to operate.
ID Joint
J0 Base
J1 Shoulder
J2 Elbow
J3 Wrist 1
J4 Wrist 2
J5 Wrist 3
Example:
Wrist 1 (J3) needs to be replaced. Spare joint is a Wrist 3 (J5)
UR3 46 Service Manual
5.Service and Replacement of Parts
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

Universal Robots ur3 Specifications

General

Brand	Universal Robots
Model	ur3
Category	Robotics
Language	English