Universal Robots UR30 - Mounting

7.7. Mounting
Description Specifying the mounting of the Robot arm serves two purposes:
1. Making the Robot arm appear correctly on screen.
2. Telling the controller about the direction of gravity.
An advanced dynamics model gives the Robot arm smooth and precise motions, as well
as allows the Robot arm to hold itself in Freedrive Mode. For this reason, it is important
to mount the Robot arm correctly.
WARNING
Failure to mount the Robot’s arm correctly may result in frequent robot
stops, and/or the Robot arm will move when pressing the Freedrive
button.
If the Robot arm is mounted on a flat table or floor, no change is needed on this screen.
However, if the Robot arm is ceiling mounted, wall mounted, or mounted at an angle,
this needs to be adjusted using the buttons.
The buttons on the right side of the screen are for setting the angle of the Robot arm’s
mounting. The top three right side buttons set the angle to ceiling (180
∘
), wall (90
∘
), floor
(0
∘
). The Tilt buttons set an arbitrary angle.
User Manual 62 UR30
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