Universal Robots PolyScope X UR16e User Manual page 42

Dimensionin The magnitude of the loads depends on robot model, program and multiple other factors.
Dimensioning of the stand shall account for the loads that the robot arm generates during
g the Stand
normal uninterrupted operation and during category 0, 1 and 2 stopping motion. During
stopping motion, the joints are allowed to exceed the maximum nominal operating torque.
The load during stopping motion is independent of the stop category type.
The values stated in the following tables are maximum nominal loads in worst-case
movements multiplied with a safety factor of 2.5. The actual loads will not exceed these
values.
Robot Model
UR16e
Robot Model
UR16e
The normal operating loads can generally be reduced by lowering the acceleration limits of
the joints. Actual operating loads are dependent on the application and robot program. You
can use URSim to evaluate the expected loads in your specific application.
UR16e PolyScope X
Mz [Nm]
990
Maximum joint torques during category 0, 1 and 2 stops.
Mz [Nm]
830
Maximum joint torques during normal operation.
42
Part I Hardware Installation Manual
Fz[Nm] M [Nm]
xy
1870 1320
Fz[Nm] M [Nm]
xy
1570 820
F [Nm]
xy
1330
F [Nm]
xy
870
User Manual