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4
Installation Guide (en) 1.3.3
2. Mechanical Set Up
Relevant
Description
Further Information
Checked
YES
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 vibration
free.
UR User Manual
Chapter “Mounting”
UR Support Site
Article
YES
Is robot mount in an environment suited for
the IP rating?
The robot must be operated in
environments that fulfill the required IP
ratings of Robot Arm, Teach Pendant and
Control Box.
UR User Manual
Chapter “Technical
Specifications”
UR Support Site
Article
Linear Axis?
YES
NO
If the robot is mounted on a linear axis or a
moving platform then the acceleration of the
moving mounting base shall be very low. A
high acceleration might cause the robot to
stop, thinking it bumped into something.
It is recommended to keep the robot joints
stationary while the linear stage is in motion,
especially during accelerating and
decelerating. The validation that robot joints
are stationary (steady) can be done by
using script function “is_steady()”.
It also might be helpful to keep the robot in
more of a folded-up pose versus extended
(to avoid accidental protective stops).
UR User Manual
Chapter “Mounting”
UR Support Site
Article
UR Script Manual
function “is_steady()”
YES
Please go through inspection plan in
Service Manual and follow all recommended
inspections. By doing this you can eliminate
many possible failures.
UR Service Manual
Chapter “Preventive
Maintenance”
