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Restricting wrist 3 (TCP turn) on UR3:

Application Description:
On UR 3 the TCP head (wrist 3) can make continues turn – which is good for imitating a screwdriver application. But in some situation it can be desired to restrict the turn ability of writs 3 – for example if a tool is attached that has cables connected – and thereby limit the risk of getting the cable entangled.

Function description:
By default the wrist 3 is set to “Unrestricted range for wrist 3” as seen in below image. Notice – the “Position Range” must be selected to see this option”.


By “un-checking” the box “Unrestricted range for wrist 3” – the wrist 3 can be set to restricted within a range. Notice – the “Position Range” must be selected to see this option”.


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By Zacobria Lars Skovsgaard
Accredited 2015-2018 Universal Robots support Centre and Forum.


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