Universal Robots Forum

Transform a move pose/position from one UR model to another

I wonder if there’s a known way to transform the move pose or position from one UR model (say UR5e) to another (say UR3e)?

My guess is that the joint angles of the two models are probably compatible? I.e., they have the same ranges.

However, when Cartesian coordinates are involved, obviously, UR3e and UR5e (for example) will have different reaches. Is there a official way to transform one to another?

This is useful so that we could write one integration test and easily apply to various UR models that we employ. Thanks!