Payload Inertia - Universal Robots E Series Original Instructions Manual

5. Mechanical Interface
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]
6
5
4
3
2
1
0
6.3: The relationship between the rated payload and the center of gravity offset.

5.4.1. 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
page 169 ):
• 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
100 200 300 400
Center of gravity offset [mm]
(see:23.11.14. Set Payload on
31
500 600
UR5e