Universal Robots UR16e

Center of gravity offset [mm]
2.4: The relationship between the rated payload and the center of gravity offset.
Payload Inertia
The robot can be used with high inertia payloads. The control software automatically adjusts
accelerations, if you correctly enter the following in PolyScope (see: 7.7.10. Set Payloadon
page237)
•
Payload mass
•
Center of gravity
•
Inertia
You can use the URSim to evaluate the accelerations and cycle times of the robot motions with a
specific payload.
2.4. Electrical Interface
2.4.1. Introduction
The robot arm and the Control Box contain electrical interface groups. Examples are given for most
types of I/O. The term I/O refers to both digital and analog control signals to or from the electrical
interface groups listed below.
UR16e 36 User Manual
2.Part I Hardware Installation Manual
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