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Universal Robots CB3 User Manual
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A.
Calibration
Plate
A
C
alibration
Plate
85
mm
85
m
m
63
m
m
63
mm
Ø132
M8
M10
15
mm
15
mm
78
5m
m
78
5m
m
M10
M10
M10
Ø8
[H7
]
Ø63
[
H7]
Stif
t
Stif
t
Dra
win
g
31
.3
20
.0
8
Dra
win
g
31
.0
02
.0
5
63
m
m
63
m
m
63
m
m
63
m
m
63
m
m
63
m
m
63
m
m
63
m
m
63
m
m
63
mm
63
mm
63
mm
63
mm
63
mm
63
mm
63
mm
63
mm
63
mm
Plat
e
dimen
s
i
on
:
80
0x8
00
x12
[m
m]
M10
45
0m
m
41
5
mm
M8
M8
M8
M8
77
5m
m
25
mm
25
mm
77
5m
m
16
0m
m
30
0m
m
50
0m
m
64
0m
m
16
0m
m
30
0m
m
50
0m
m
64
0m
m
(0
,0
)
(1
26
,0
)
(2
52
,0
)
(3
78
,0
)
(5
04
,0
)
(6
30
,0
)
(1
89
,6
3)
(3
15
,6
3)
(4
41
,6
3)
(5
67
,6
3)
(0
,1
26
)
(1
26
,1
26
)
(2
52
,1
26
)
(3
78
,1
26
)
(5
04
,1
26
)
(6
30
,1
26
)
(5
67
,1
89
)
(4
41
,1
89
)
(3
15
,1
89
)
(1
89
,1
89
)
(6
3,
18
9)
(0
,2
52
)
(1
26
,2
52
)
(2
52
,2
52
)
(3
78
,2
52
)
(5
04
,2
52
)
(6
30
,2
52
)
(3
15
,3
15
)
(1
89
,3
15
)
(6
3,
31
5)
(4
41
,3
15
)
(5
67
,3
15
)
(6
30
,3
78
)
(5
04
,3
78
)
(3
78
,3
78
)
(2
52
,3
78
)
(1
26
,3
78
)
(0
,3
78
)
(6
3,
44
1)
(0
,5
04
)
(6
3,
56
7)
(0
,6
30
)
(1
26
,6
30
)
(2
52
,6
30
)
(3
78
,6
30
)
(5
04
,6
30
)
(6
30
,6
30
)
(1
89
,5
67
)
(3
15
,5
67
)
(4
41
,5
67
)
(5
67
,5
67
)
(6
30
,5
04
)
(5
04
,5
04
)
(3
78
,5
04
)
(2
52
,5
04
)
(1
26
,5
04
)
(1
89
,4
41
)
(3
15
,4
41
)
(4
41
,4
41
)
(5
67
,4
41
)
x
y
Figur
e
A.1:
Drawing
of
the
calibration
plate
.
21
22
24
Table of Contents
Table of Contents
2
Plate Calibration
3
Required Equipment
3
Accessing the Functionality
4
Measuring Positions
5
Calibration
7
Evaluation
8
Calibration Statistics
9
Debugging
9
Applying the Calibration
9
Reset Calibration
10
Dual Robot Calibration
11
Required Equipment
12
Mounting the Robots to the Base Calibration Tool
13
Accessing the Functionality
14
Network Connection between the Robots
14
Master Slave Connection
15
Manual Mode
15
Before Starting
16
Mounting the UR Dual Robot Calibration Connector
17
Measuring Positions and Calibration Statistics
19
Applying the Calibration
20
Validation
21
Reset Calibration
22
Appendices
23
A Calibration Plate
23
B Dual Robot Tools
24
C Robot Parameter
25
Ur5
25
Ur10
25
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Universal Robots CB3 Specifications
General
Brand
Universal Robots
Model
CB3
Category
Robotics
Language
English
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