Universal Robots UR12e User Manual page 38

Wrist This singularity occurs because wrist joint 2 rotates on the same plane as the shoulder,
alignment elbow and wrist joint 1. This limits the range of movement of the robot arm, regardless of
workspace.
To avoid:Layout the robot task in such a way that it is not necessary to align the robot wrist
joints in this manner. You can also offset the direction of the tool, so that the tool can point
horizontally without the problematic wrist alignment.
5.3.2. Fixed and Movable Installation
Description Whether the robot arm is fixed (mounted to a stand, wall or floor) or in a movable
installation (linear axis, push cart, or mobile robot base), it must be installed securely to
ensure stability through all motions.
UR12e 39
5. Assembly
User Manual