OnRobot UR CB3 Series User Manual page 78

HARDWARE SPECIFICATION
Internal mounting with QC connector on the A side
Coordinate system
Example with an RG2 tool:
78
TCP [mm]
X=0
Y= - 12 + (Tool Z value)
Z= 63 - (Tool Y value)
RX=90°
RY=0°
RZ=0°
TCP [mm]
X=0
Y= - 12 + 200 = 188
Z= 63 - 0 = 63
RX=90°
RY=0°
RZ=0°
Center of Gravity [mm]
cX=0
cY= - 55 - (Tool Z value)
cZ= 63 + (Tool Y value)
Center of Gravity [mm]
cX=0
cY= -12 + 64 = 52
cZ=63 - 0 = 63
Weight
0.207 kg
0.456 lb