Universal Robots e Series User Manual page 183

16.1 General
16.1.2 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.
If the Robot arm is mounted on a flat table or floor, no change is needed on this screen. However, if
the Robot arm is ceiling mounted, wall mounted, or mounted at an angle, this needs to be adjusted
using the buttons.
The buttons on the right side of the screen are for setting the angle of the Robot arm's mounting.
The top three right side buttons set the angle to ceiling (180
set an arbitrary angle.
The buttons on the lower part of the screen are used to rotate the mounting of the Robot arm to
match the actual mounting.
Version 5.4
WARNING:
Failure to mount the Robot's arm correctly may result in frequent Pro-
tective Stops, and/or the Robot arm will move when pressing the
Freedrive button.
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), wall (90
II-93
◦ ◦
), floor (0 ). The Tilt buttons
e-Series