Universal Robots UR20 PolyScope X User Manual page 82

Payload The robot arm can accommodate higher payloads and longer CoG offsets, if the payload is
capacity placed below the tool flange. You can increase the maximum payload capacity of the robot
increase arm, under the following criteria:
•
•
•
As illustrated above, the horizontal payload offset d
Expanded payload is possible for any robot mounting orientation.
Increasing the maximum payload capacity can cause the robot to move at reduced speeds
and lower acceleration. The higher load on the joints can limit some motions inside the
working range of the robot. The robot software automatically ensures the mechanical limits
of the robot are not exceeded.
UR20 PolyScope X
Movement with high payload is with tool oriented vertically downward, as is often the
case in palletizing applications.
The payload CoG is within the nominal horizontal reach of the robot.
The CoG offset in the horizontal XY-plane does not exceed the expanded payload
curve (long offsets in the Z-axis, exceeding the payload curve are not an issue).
Example of how to compute the horizontal center of gravity offset.
NOTICE
Using the expanded payload range does not void your robot warranty for
this robot.
should be within the payload curve.
y
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8. Installation
User Manual