# Transfer program from ur3e to ur5e

**URL:** <https://forum.universal-robots.com/t/transfer-program-from-ur3e-to-ur5e/23216>\
**Category:** URScript\
**Created:** [August 11, 2022, 6:09am UTC](https://forum.universal-robots.com/t/transfer-program-from-ur3e-to-ur5e/23216 "2022-08-11T06:09:18Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![ppanchal](https://avatars.discourse-cdn.com/v4/letter/p/91b2a8/32.png) [@ppanchal](https://forum.universal-robots.com/u/ppanchal)\
**Post date:** [August 11, 2022, 6:09am UTC](https://forum.universal-robots.com/t/transfer-program-from-ur3e-to-ur5e/23216/1 "2022-08-11T06:09:18Z")

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Hello, I am trying to transfer my UR3e program into UR5e. I can open the program but UR5e is not able to load the installation file and giving an error as per the attached image. Could anybody tell me how can I transfer my ur3e installation to ur5e?

 ![IMG-6008](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/e/ee26dcaaea0fc066b66742612b7f138dd416edde.jpeg)

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**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\
**Post date:** [August 11, 2022, 10:27am UTC](https://forum.universal-robots.com/t/transfer-program-from-ur3e-to-ur5e/23216/2 "2022-08-11T10:27:04Z")

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This is mostly likely from the wrist 3 rotation limit in the safety settings. The UR3e is capable of unlimited rotation on wrist 3, and it is set to unlimited by default. The UR5e is not capable of this unlimited rotation.

Go to your UR3e installation, and change the wrist 3 joint limit from unlimited to +-363.

Additionally, if you actually rotated wrist 3 outside this range in your program, you’re going to have points your UR5e won’t reach, so you may need to add/subtract 360 degrees from wrist 3 on a handful of waypoints.

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**Author:** ![ppanchal](https://avatars.discourse-cdn.com/v4/letter/p/91b2a8/32.png) [@ppanchal](https://forum.universal-robots.com/u/ppanchal)\
**Post date:** [August 12, 2022, 12:32am UTC](https://forum.universal-robots.com/t/transfer-program-from-ur3e-to-ur5e/23216/3 "2022-08-12T00:32:51Z")

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Thank you very much. It helps