Mounting Instructions; The Workspace Of The Robot; Mounting The Robot; Mounting The Tool - Universal Robots UR5 with CB2 User Manual

Front
Figure 1.2: The workspace of the robot. The robot can work in an approxi-
mate sphere (Ø170cm) around the base, except for a cylindrical
volume directly above and directly below the robot base.

1.4 Mounting Instructions

The robot consists essentially of six robot joints and two aluminum tubes, con-
necting the robot's base with the robot's tool. The robot is built so that the tool
can be translated and rotated within the robot's workspace. The next subsec-
tions describes the basic things to know when mounting the different parts of
the robot system.

1.4.1 The Workspace of the Robot

The workspace of the UR5 robot extends to 850 mm from the base joint. The
workspace of the robot is shown in figure 1.2. It is important to consider the
cylindrical volume directly above and directly below the robot base when a
mounting place for the robot is chosen. Moving the tool close to the cylindrical
volume should be avoided if possible, because it causes the robot joints to move
fast even though the tool is moving slowly.

1.4.2 Mounting the Robot

The robot is mounted using 4 M8 bolts, using the four 8.5mm holes on the robot's
base. If very accurate repositioning of the robot is desired, two Ø8 holes are pro-
vided for use with a pin. Also an accurate base counterpart can be purchased
as accessory. Figure 1.3 shows where to drill holes and mount the screws.

1.4.3 Mounting the Tool

The robot tool flange has four holes for attaching a tool to the robot. A drawing
of the tool flange is shown in figure 1.4.
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1.4. Mounting Instructions
Tilted
12 UR5