Universal Robots Forum

UR5 Maximum Joint Force Limits

I am trying to find the maximum force and power limits of each joint for a UR5, but I can’t seem to find it in any manuals. Where would I find this information?

The force and power limits are configurable in the safety system of the robot.

The maximal torque a joint can sustain is listed here:
Max. joint torques - 17260

That is exactly what I was looking for. Thanks

The values shown in article 17260 are the values that will potentially cause physical damage to the joints. This is not what a joint can exert. What can be exerted (at the tcp) is dependent on the safety settings and the pose of the robot.

I’d like to revive this topic. What can the joints safely exert?

John,

This is not known. It depends on too many factors such as pose of robot, safety settings, etc.

Best Regards
Brent BartsonTechnical Support Manager, North America

UR_New_Logo_fbea4359-42b7-4da9-8daa-e86be3f71552.png

Universal Robots USA, Inc.
5430 Data Court
Suite 300
Ann Arbor, MI 48108
United States

Phone: +1 844-462-6268 Ext. 1002
Cell: +1 734-660-1602

bba@universal-robots.com
www.universal-robots.com

Brent,

I was hoping to possibly use the kinematic equations to attempt to calculate a force the robot could exert using the joint torques.

Is there any pose with using the maximum safety and power settings, where I could exert like 150 N using force mode starting from a static position?

I have an application with an enclosed cabinet setup, running non-collaboratively due to process hazards, where I need to move light parts (150/200g) to a designated location, which can be located close to the robot base, to pull them out of cups filled with a mud like masking. I was hoping I could use the force mode over a 12 or 25 mm distance to accomplish this. My end of arm tooling is about 1 kg.

John,

I have not seen anyone attempt to calculate such force capability. I think your best guidance would be to try it and see what is possible with a physical robot and some external measurement device. You can set the safety settings to allow
the robot to exert maximum force and then by setting the TCP to the proper location (might require some experimentation) you should be able to do this.

Best Regards
Brent BartsonTechnical Support Manager, North America

UR_New_Logo_fbea4359-42b7-4da9-8daa-e86be3f71552.png

Universal Robots USA, Inc.
5430 Data Court
Suite 300
Ann Arbor, MI 48108
United States

Phone: +1 844-462-6268 Ext. 1002
Cell: +1 734-660-1602

bba@universal-robots.com
www.universal-robots.com

image001.jpg

Hello everyone,

I was wondering if there is any way to know what force and torque is applied on each joint in real time. I’m well aware of the fonction get_tcp_force(), but it only shows the force and torque applied on the TCP.
I’m not sure i’m asking this in the right topic.
I am using the UR10e.

Thank you in advance.