Introduction; About This Document; What's In The Box; Terminology And Abbreviations - Universal Robots UR3e Manual

1. Introduction
1. Introduction

1.1. About this document

This document describes how to set up and do Dual Robot Calibration on Universal Robots e-Series robots
with the e-Series Control Box. During Dual Robot Calibration, two robot arms are connected and perform
coordinated movements to different positions to calibrate the robot kinematics.
This document also describes how to use key waypoints to correct programs automatically.

1.2. What's in the box

The box contains the following parts:
• The Dual Robot Calibration kit
• Calibration Horse with alignment pins
• Calibration Tool Connector with alignment pins
• Four M8-1.25x70 screws with washers
• Eight M8-1.25x25 screws with washers
• Eight M6-1.0x25 screws
• Eight M6-1.0x25 screws
• Go / NoGo tools
• This document

1.3. Terminology and abbreviations

In this document the following terms and corresponding abbreviations are used:
•
Corresponding Tool Position (CTP)
•
Tool Center Point (TCP)

1.4. Company Details

Universal Robots A/S
Energivej 51, 5260 Odense S, Denmark
+45 89 93 89 89
https://www.universal-robots.com
User Manual 1 Kinematic Calibration