Angle Bracket - OnRobot UR CB3 Series User Manual

HARDWARE SPECIFICATION

8.3.2. Angle Bracket

Options for mounting
External mounting (QC
and tool are mounted
outward)
robot arm
Internal mounting (QC
and tool are mounted
inward)
robot arm
External mounting with QC connector on the A side
Coordinate system
68
Rotation of the QC and the tool - whether the QC connector
points to A,B,C,D side of the Angle Bracket when mounted
A
Calculated (see
below)
Calculated (see
below)
TCP [mm]
X=0
Y= - 55 - (Tool Z value)
Z=63 + (Tool Y value)
RX=90°
RY=0°
RZ=0°
B C
Not
calculated Not calculated
but but possible to
possible to use
use
Not
calculated Not calculated
but but possible to
possible to use
use
Center of Gravity [mm]
cX=0
cY= - 55 - (Tool Z value)
cZ= 63 + (Tool Y value)
D
Not
calculated
but
possible to
use
Not
possible to
use
Weight
0.207 kg
0.456 lb