Universal Robots UR3e PolyScope X - Page 37

Dimensionin
g the Stand
The magnitude of the loads depends on robot model, program and multiple other factors.
Dimensioning of the stand shall account for the loads that the robot arm generates during
normal uninterrupted operation and during category 0, 1 and 2 stopping motion.
During stopping motion, the joints are allowed to exceed the maximum nominal operating
torque. The load during stopping motion is independent of the stop category type.
The values stated in the following tables are maximum nominal loads in worst-case
movements multiplied with a safety factor of 2.5. The actual loads will not exceed these
values.
Robot Model Mz [Nm] Fz[N] Mxy[Nm] Fxy [N]
UR3e 170 490 220 390
Maximum joint torques during category 0, 1 and 2 stops.
Robot Model Mz [Nm] Fz[N] Mxy[Nm] Fxy [N]
UR3e 140 370 180 320
Maximum joint torques during normal operation.
The normal operating loads can generally be reduced by lowering the acceleration limits of
the joints. Actual operating loads are dependent on the application and robot program. You
can use URSim to evaluate the expected loads in your specific application.
User Manual 37 UR3e PolyScope X
5.Assembly
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