Payload Inertia - Universal Robots e Series Hardware Manual

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

3.4.1. 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 (see:
• 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.
Hardware Manual
100 200 300 400
Center of gravity offset [mm]
Set Payload
27
500 600
):
UR5e