Mounting - Universal Robots UR5 with CB2 User Manual

point that moves in a straight line. It is also the motion of the TCP that is visualized
on the graphics tab. The TCP is given relative to the center of the tool output
flange, as indicated on the on-screen graphics.
The two buttons on the bottom of the screen are relevant when the TCP is
changed.
Change Motions recalculates all positions in the robot program to fit the
new TCP . This is relevant when the shape or size of the tools has been
changed.
Change Graphics redraws the graphics of the program to fit the new TCP .
This is relevant when the TCP has been changed without any physical
changes to the tool.
3.3.7 Installation
Here the mounting of the robot can be specified. This serves two purposes:
1. Making the robot look right on the screen.
2. Telling the controller about the direction of gravity.
The controller uses an advanced dynamics model to give the robot smooth
and precise motions, and to make the robot hold itself when backdriven. For
this reason, it is important that the mounting of the robot is set correctly.
The default is that the robot is mounted on a flat table or floor, in which case
no change is needed on this screen. However, if the robot is ceiling mounted,
wall mounted or mounted at an angle this can be adjusted using the push-
buttons. The buttons on the right side of the screen are for setting the angle of
the robot's mounting. The three top right side buttons set the angle to ceiling
(180 ), wall (90 ), floor (0 ). The Tilt buttons can be used to set an arbitrary an-
gle. The buttons on the lower part of the screen are used to rotate the mounting
of the robot to match the actual mounting.
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Mounting

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3.3. Robot Control
UR5