Universal Robots E Series Original Instructions

Select conditions in the Expression Editor that make up expressions using an If statement. If a
condition is evaluated as True, the statements within this If command are executed. An If
statement can have only one Else statement. Use Add ElseIf and Remove ElseIf to add and remove
ElseIf expressions.
Select Check Expression Continuously to allow If, ElseIf and Loop statements to be evaluated
while the contained lines are executed. If an expression inside an If statement is evaluated as
False, the ElseIf or Else statements are followed.
NOTE
If there are waypoints inside an If expression or inside a Loop expression with the
Check Expression Continuously option, you can add a stopj() or a stopl() after the
expression to gently decelerate the robot arm. This is valid for both If and Loop
Commands (see section 23.12.1. Loopon the previous page).
User Manual 171 UR5e
23.Program Tab
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Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)