Universal Robots UR20 PolyScope X User Manual page 81

8. Installation
Description The rated robot arm payload depends on the center of gravity (CoG) offset of the
payload, as shown below. The CoG offset is defined as the distance from the center of
the tool flange to the center of gravity of the attached payload.
The robot arm can accommodate a long center of gravity offset, if the payload is placed
below the tool flange. For example when computing the payload mass in a pick and place
application, consider both the gripper and the workpiece.
The robot's capacity to accelerate can be reduced if the payload CoG exceeds the robot's
reach and payload. You can verify the reach and payload of your robot in the Technical
Specifications.
expanded
payload
full
performance
User Manual
Payload [kg]
The relationship between the rated payload and the center of gravity offset.
81
Center of gravity offset [mm]
UR20 PolyScope X