Universal Robots UR10, Installation Manual

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All rights reserved 5 Installation Guide (en) 1.3.3
3. Payload / Center of Gravity Offset
Relevant Description Further Information Checked
YES Payload and Center of Gravity must be set
correctly. The maximum allowed payload of
the robot arm depends on the center of
gravity offset. The center of gravity offset is
defined as the distance between the center
of the tool output flange and the center of
gravity of the total payload (tool +
workpiece).
Example for UR5
– CB3
UR User Manual
Chapter “Maximum
Payload” & “Payload”
& “Center of Gravity”
UR Support Site
Article
“Setting
payload and center of
gravity when using
multiple TCPs
”
YES The Payload and Center of Gravity must be
always adjusted when a workpiece is picked
up or dropped off.
The script command from the Script Manual
can be used for this purpose.
"set_payload(m, cog)"
UR User Manual
Chapter “Payload”
& “Center of Gravity”
UR Script Manual
function
“set_payload()”
UR Support Site
Article
“Setting
payload and center of
gravity when using
multiple TCPs
”