Mounting - Universal Robots E Series Original Instructions Manual

24.4. Mounting

Specifying the mounting of the Robot arm serves two purposes:
1. Making the Robot arm appear correctly on screen.
2. Telling the controller about the direction of gravity.
An advanced dynamics model gives the Robot arm smooth and precise motions, as well as allows
the Robot arm to hold itself in Freedrive Mode. For this reason, it is important to mount the Robot
arm correctly.
WARNING
Failure to mount the Robot's arm correctly may result in frequent Protective Stops,
and/or the Robot arm will move when pressing the Freedrive button.
UR5e 210
24. Installation Tab
User Manual