5.2.16. 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If a joint has been replaced, then the factory calibration is no longer valid.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/ to download the Calibration Manual in PDF format.
• Simple Joint calibration (as described in 3.1.15 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.
5.2.17. 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)
UR5 42 Service Manual
5.Service and Replacement of parts
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