Payload / Center Of Gravity Offset - Universal Robots UR3 Installation Manual

3. Payload / Center of Gravity Offset

Relevant
YES Payload and Center of Gravity must be set
correctly. The maximum allowed payload of
the robot arm depends on the center of
gravity offset. The center of gravity offset is
defined as the distance between the center
of the tool output flange and the center of
gravity of the total payload (tool +
workpiece).
Example for UR5 – CB3
YES The Payload and Center of Gravity must be
always adjusted when a workpiece is picked
up or dropped off.
The script command from the Script Manual
can be used for this purpose.
"set_payload(m, cog)"
All rights reserved
Description
5
Further Information
UR User Manual
Chapter "Maximum
Payload" & "Payload"
& "Center of Gravity"
UR Support Site
Article "Setting
payload and center of
gravity when using
multiple TCPs"
UR User Manual
Chapter "Payload"
& "Center of Gravity"
UR Script Manual
function
"set_payload()"
UR Support Site
Article "Setting
payload and center of
gravity when using
multiple TCPs"
Installation Guide (en) 1.3.3
Checked