Mounting the Robot Arms to the Calibration Horse

When mounting the arms for calibration, keep the following in mind:

• Mount the robots on the calibration horse.

• Refer to the user manual for the correct torque for mounting the robots.

• Set the mounting angle in PolyScope at approximately 52.4°.

• Use a new application with default safety settings before activating the robots.

1. Use the screws to mount each robot to the Calibration Horse.

2. Turn on the control box, then leave the robot arm in Locked state (yellow indicator).

   The screen below shows the robot arm in Locked state.

   

1. On PolyScope X, in the Application tab, tap Mounting.

2. In the two fields, enter the Tilt and Rotate Robot Base Mounting values according to the table below.

   Use the following values for your robot: 

   Robot size	Tilt	Rotate Robot Base Mounting
   UR3e	52.4°	270°
   UR5e	52.4°	90°
   UR10e	52.4°	90°
   UR16e	52.4°	90°
   UR8 Long	52.4°	90°
   UR15	52.4°	90°
   UR20	52.4°	90°
   UR30	52.4°	90°

You can set the mounting from the calibration flow. The mounting parameters for both the Leader and Follower robots can also be configured by tapping the two Set Mounting buttons in the Connection and Initialization step of the calibration.