4 Mechanical Interface
4.1 Introduction
This chapter describes the basics of mounting the various parts of the robot system. Electrical
installation instructions in chapter 5 must be observed.
4.2 Workspace of the Robot
The workspace of the UR3 robot extends 500 mm from the base joint. It is important to consider
the cylindrical volume directly above and directly below the robot base when a mounting place for
the robot is chosen. Moving the tool close to the cylindrical volume should be avoided if possible,
because it causes the joints to move fast even though the tool is moving slowly, causing the robot
to work inefficiently and making it difficult to conduct a risk assessment.
Front Tilted
4.3 Mounting
Robot Arm The robot arm is mounted using four M6 bolts, using the four 6.6 mm holes on the
base. It is recommended to tighten these bolts with 9 N m torque. If very accurate repositioning
of the robot arm is desired, two Ø5 holes are provided for use with a pin. Also, an accurate base
counterpart can be purchased as an accessory. Figure 4.1 shows where to drill holes and mount the
screws.
The robot connector cable can be mounted through the side or through the bottom of the base.
Mount the robot on a sturdy surface strong enough to withstand at least ten times the full torque of
the base joint and at least five times the weight of the robot arm. Furthermore the surface shall be
Version 3.10
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I-23 UR3/CB3
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