Mounting The Robots To The Calibration Horse; Accessing The Functionality - Universal Robots CB3 Kinematic Calibration Manual

2. Dual Robot Calibration

2.2 Mounting the Robots to the Calibration Horse

(1) Mount the Calibration Horse to a stand of a height of at least 0.5 m and mount the robots to the
Calibration Horse, as in Figure 2.3.
(2) Mount two robots of the same type and version on the Calibration Horse, see Figure 2.3.
Figure 2.3: Mount the robots on the Calibration Horse, connecting the robot bases
(3) From the Initialization screen set the robot mounting and angle (click the "Configure Mounting" button),
see Figure 2.4:
UR3:
(a) The Tilt is approximately 52, 5
(b) The Rotate Robot Base Mounting is 270 .
UR5 and UR10:
(a) The Tilt is approximately 52, 5
(b) The Rotate Robot Base Mounting is 90 .
(4) From the Initialization screen set the payload to 0 kg for both robot types, see Figure 2.5.
Figure 2.4: Mounting of the robot

2.3 Accessing the Functionality

The starting point for the method is to enable Kinematics Calibration in Expert Mode.
4
2
1
5 and
5 and
Figure 2.5: TCP settings