# UR5 Maximum Joint Force Limits **URL:** \ **Category:** Technical Questions\ **Tags:** mechanical\ **Created:** [April 2, 2019, 2:30pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006 "2019-04-02T14:30:15Z")\ **Posts on this page:** 13\ **Page:** 1
**Author:** ![anon48882232](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon48882232](https://forum.universal-robots.com/u/anon48882232)\ **Post date:** [April 2, 2019, 2:30pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/1 "2019-04-02T14:30:15Z")
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? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [April 2, 2019, 2:46pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/2 "2019-04-02T14:46:17Z")
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](https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/) ---
**Author:** ![anon48882232](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon48882232](https://forum.universal-robots.com/u/anon48882232)\ **Post date:** [April 2, 2019, 3:14pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/3 "2019-04-02T15:14:47Z")
That is exactly what I was looking for. Thanks ---
**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\ **Post date:** [April 9, 2019, 12:14pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/4 "2019-04-09T12:14:06Z")
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. ---
**Author:** ![anon45015616](https://avatars.discourse-cdn.com/v4/letter/a/47e85d/32.png) [@anon45015616](https://forum.universal-robots.com/u/anon45015616)\ **Post date:** [October 30, 2019, 7:41pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/5 "2019-10-30T19:41:09Z")
> [@bba](#): > > lues 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? ---
**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\ **Post date:** [October 30, 2019, 9:40pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/6 "2019-10-30T21:40:57Z")
John, This is not known. It depends on too many factors such as pose of robot, safety settings, etc. Best Regards **Brent Bartson** _Technical Support Manager, North America_ ![UR_New_Logo_fbea4359-42b7-4da9-8daa-e86be3f71552.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0b20894489383d4ea1b5dc10b22f4aceae25a50d.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](mailto:bba@universal-robots.com) [www.universal-robots.com](http://www.universal-robots.com) ---
**Author:** ![anon45015616](https://avatars.discourse-cdn.com/v4/letter/a/47e85d/32.png) [@anon45015616](https://forum.universal-robots.com/u/anon45015616)\ **Post date:** [October 31, 2019, 3:10am UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/7 "2019-10-31T03:10:04Z")
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. ---
**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\ **Post date:** [October 31, 2019, 11:31am UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/8 "2019-10-31T11:31:28Z")
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 Bartson** _Technical Support Manager, North America_ ![UR_New_Logo_fbea4359-42b7-4da9-8daa-e86be3f71552.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0b20894489383d4ea1b5dc10b22f4aceae25a50d.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](mailto:bba@universal-robots.com) [www.universal-robots.com](http://www.universal-robots.com) ![image001.jpg](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/6/64f616983d5e1c5697da3e3dc3eb37d7d031eebf.jpeg) ---
**Author:** ![anon44109917](https://avatars.discourse-cdn.com/v4/letter/a/ed8c4c/32.png) [@anon44109917](https://forum.universal-robots.com/u/anon44109917)\ **Post date:** [January 28, 2020, 3:28pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/9 "2020-01-28T15:28:52Z")
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. ---
**Author:** ![elias.montini](https://avatars.discourse-cdn.com/v4/letter/e/c4cdca/32.png) [@elias.montini](https://forum.universal-robots.com/u/elias.montini)\ **Post date:** [May 2, 2022, 5:00pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/10 "2022-05-02T17:00:39Z")
Dear John, did you solve the issue? Were you able to compute the maximum force at tcp in a specific configuration? ---
**Author:** ![lois](https://avatars.discourse-cdn.com/v4/letter/l/5f8ce5/32.png) [@lois](https://forum.universal-robots.com/u/lois)\ **Post date:** [September 1, 2026, 5:02pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/11 "2026-09-01T17:02:15Z")
Dear @bba , unfortunately this link is dead [https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/](https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/), would you please have data regarding the maximum allowable force on the UR20 joints ? I am not interested in the maximum force that the joints may apply, but what they may resist (and how much I can then accelerate the rail my UR is moving on). Most articles give the **Torques** but I am interested in the **Lateral and Tranverse Forces** that I cannot find anywhere. ---
**Author:** ![properInproperizer](https://avatars.discourse-cdn.com/v4/letter/p/7ab992/32.png) [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Post date:** [September 1, 2026, 5:17pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/12 "2026-09-01T17:17:47Z")
I think, this is the new link: > **[Universal Robots - Max. joint torques UR-Series](https://www.universal-robots.com/articles/ur/robot-care-maintenance/max-joint-torques-ur-series/)** Unfortunately I can not help with your specific question. ---
**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\ **Post date:** [September 2, 2026, 4:28pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006/13 "2026-09-02T16:28:36Z")
There is no more information than the Max joint torques link referenced above. I would not try to move the arm while the external axis is moving unless you are doing so very carefully. There is a script functon called get\_base\_acceleration() and set\_base\_acceleration() that could be used if moving the robots base. Here is an article that talks about this too : [Universal Robots - Set Base Acceleration and High Holding Torque Disable/Enable](https://www.universal-robots.com/articles/ur/programming/set-base-acceleration-and-high-holding-torque-disableenable/)