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17.3 Mounting the robot and tool
Before constructing a tool and a mounting surface, the integrator must consider how joint 4
(wrist 2) is orientated during pick and place. Joint 1, 2 and 3 has parallel axes and if joint
4 orientates joint 5 to the left or to the right then joint 5 is parallel to the other three axes,
which forms a singularity. It is generally a good idea to place the robot in a 45 degree angle or
constructing a tool where the surface of the tool flange of the robot points down when gripping
the items from the vertical mould surface.
17.4 Using the robot without an IMM
To operate the robot without an IMM, a by-pass plug must be used to close the emergency and
safety signals. The only alternative is to permanently uninstall the interface as described in 19.1.
17.5 EUROMAP 12 to EUROMAP 67 conversion
To interface an IMM with EUROMAP 12 interface an E12 - E67 adaptor must be used. Several
adaptors is available on the marked from different manufacturers. Unfortunately most adaptors
are constructed for specific robots or IMMs assuming specific designs choices. This means that
some adaptors will not connect the UR robot and your IMM correctly. It is recommended to
read both the EUROMAP 12 and EUROMAP 67 standard whenever using or constructing an
adaptor.
A list with common errors is shown below:
1. Do you measure 24V between A9 and C9?
• The IMM must supply 24V to enable the I/O signals.
e-Series
CAUTION:
If you do not install a light curtain you may damage both the robot
and the mould.
Euromap67
GND GND 24V 24V MAF MAF
DANGER:
Never use the by-pass plug when the robot is installed together
with an IMM.
17.5 EUROMAP 12 to EUROMAP 67 conversion
24V GND
III-6
Version 3.11
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