Universal Robots UR3e

3.6. Maximum Payload
Description The rated payload of the Robot Arm depends on the center of gravity offset of the
payload, see Figure 3 Mechanical Interfaceon page38
The center of gravity offset is defined as the distance from the center of the tool flange
to the center of gravity of the attached payload.
When computing the payload mass in a pick and place application, for example,
consider both the gripper and object handled by the gripper.
Payload [kg]
0 100 200 300 400
1
2
3
4
Center of gravity offset [mm]
1.3: 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: 19.7.10 Set
Payloadon page233 ):
•
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.
User Manual 43 UR3e
3.Mechanical Interface
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