Universal Robots UR5/CB3 - Installation Mounting

13.7 Installation → Mounting
13.7 Installation → Mounting
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
Protective 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.
The buttons on the lower part of the screen are used to rotate the mounting of the Robot arm to
match the actual mounting.
e-Series II-44 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.