Universal Robots UR10e PolyScope X User Manual page 78

Payload [kg]
Payload You can configure high inertia payloads, if the payload is set correctly.
The controller software automatically adjusts accelerations when the following parameters
inertia
are correclty configured:
•
•
•
You can use the URSim to evaluate the accelerations and cycle times of the robot motions
with a specific payload.
UR10e PolyScope X
The relationship between the rated payload and the center of gravity offset.
Payload mass
Center of gravity
Inertia
80
8. Installation
Center of gravity offset [mm]
User Manual