# \#mechanical **URL:** https://forum.universal-robots.com/tag/mechanical/4.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [UR5 Maximum Joint Force Limits](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006)
**Author:** [@anon48882232](https://forum.universal-robots.com/u/anon48882232)\ **Replies:** 12\ **Last updated:** [September 2, 2026, 4:28pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006 "2026-09-02T16:28:36Z")
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? --- ## [Announcing the UR Developer Suite: Your Comprehensive Robotics Development Toolkit](https://forum.universal-robots.com/t/announcing-the-ur-developer-suite-your-comprehensive-robotics-development-toolkit/35101)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 5\ **Last updated:** [July 9, 2024, 1:21pm UTC](https://forum.universal-robots.com/t/announcing-the-ur-developer-suite-your-comprehensive-robotics-development-toolkit/35101 "2024-07-09T13:21:37Z")
Dear Community, We are thrilled to announce the launch of the UR Developer Suite, an all-encompassing collection of tools designed to streamline and enhance your development process with Universal Robots. The UR Develo… --- ## [Robot gear types](https://forum.universal-robots.com/t/robot-gear-types/4525)
**Author:** [@anon93824107](https://forum.universal-robots.com/u/anon93824107)\ **Replies:** 3\ **Last updated:** [March 10, 2022, 2:30am UTC](https://forum.universal-robots.com/t/robot-gear-types/4525 "2022-03-10T02:30:21Z")
Hi everyone, I would like to know the robot gear type and its version. If anyone knows, please give me the information. Thank you --- ## [Connector M8 Tool](https://forum.universal-robots.com/t/connector-m8-tool/7441)
**Author:** [@anon34434531](https://forum.universal-robots.com/u/anon34434531)\ **Replies:** 3\ **Last updated:** [December 3, 2021, 10:12am UTC](https://forum.universal-robots.com/t/connector-m8-tool/7441 "2021-12-03T10:12:47Z")
Hello, I am asking you because I am actively looking for a M8 connector reference that takes up little space (wire outputs preferably to be soldered) compatible with the M8 socket on the wrist of our UR 10. Do you have… --- ## [Set a feature with unreachable pose](https://forum.universal-robots.com/t/set-a-feature-with-unreachable-pose/528)
**Author:** [@anon44626309](https://forum.universal-robots.com/u/anon44626309)\ **Replies:** 5\ **Last updated:** [January 22, 2021, 10:37pm UTC](https://forum.universal-robots.com/t/set-a-feature-with-unreachable-pose/528 "2021-01-22T22:37:50Z")
Hi all, Is it possible to add a Feature out of a reachable position ? The goal here is to make a waypoint relative to a point that is not necessarily reachable by the arm (rotate the base frame around Z for exemple). Th… --- ## [UR3 mechanical documentation](https://forum.universal-robots.com/t/ur3-mechanical-documentation/102)
**Author:** [@jbm](https://forum.universal-robots.com/u/jbm)\ **Replies:** 0\ **Last updated:** [July 14, 2016, 11:33am UTC](https://forum.universal-robots.com/t/ur3-mechanical-documentation/102 "2016-07-14T11:33:56Z")
The tool output flange is identical in mounting for UR3, UR5 and UR10. The dimensions of the tool output flange is made in accordance with ISO 9409-1-50-4-M6. There is an alignment hole, to ensure unique positioning of… --- ## [UR5 mechanical documentation](https://forum.universal-robots.com/t/ur5-mechanical-documentation/103)
**Author:** [@jbm](https://forum.universal-robots.com/u/jbm)\ **Replies:** 0\ **Last updated:** [July 14, 2016, 11:35am UTC](https://forum.universal-robots.com/t/ur5-mechanical-documentation/103 "2016-07-14T11:35:16Z")
The tool output flange is identical in mounting for UR3, UR5 and UR10. The dimensions of the tool output flange is made in accordance with ISO 9409-1-50-4-M6. There is an alignment hole, to ensure unique positioning of… --- ## [UR10 mechanical documentation](https://forum.universal-robots.com/t/ur10-mechanical-documentation/104)
**Author:** [@jbm](https://forum.universal-robots.com/u/jbm)\ **Replies:** 0\ **Last updated:** [July 14, 2016, 11:36am UTC](https://forum.universal-robots.com/t/ur10-mechanical-documentation/104 "2016-07-14T11:36:28Z")
The tool output flange is identical in mounting for UR3, UR5 and UR10. The dimensions of the tool output flange is made in accordance with ISO 9409-1-50-4-M6. There is an alignment hole, to ensure unique positioning of… --- ## [UR3 motors' condition](https://forum.universal-robots.com/t/ur3-motors-condition/9773)
**Author:** [@anon8413817](https://forum.universal-robots.com/u/anon8413817)\ **Replies:** 0\ **Last updated:** [November 9, 2020, 10:56am UTC](https://forum.universal-robots.com/t/ur3-motors-condition/9773 "2020-11-09T10:56:00Z")
Hello, I would like to know how I could relate the exerted torque in the joints with the lifetime and the condition of the joint motors. For example, how does the condition of the joint motors change when there are abru… --- ## [CAD models of UR3 joint covers](https://forum.universal-robots.com/t/cad-models-of-ur3-joint-covers/3514)
**Author:** [@akihikoy](https://forum.universal-robots.com/u/akihikoy)\ **Replies:** 3\ **Last updated:** [December 1, 2020, 6:22pm UTC](https://forum.universal-robots.com/t/cad-models-of-ur3-joint-covers/3514 "2020-12-01T18:22:33Z")
I’m searching for CAD models of UR3 joint covers (blue covers) for creating 3D printed cabling guides. Although I found a CAD model of entire UR3 robot, it contains the surface shape only, i.e. it does not have the deta… --- ## [Elbow joint limit](https://forum.universal-robots.com/t/elbow-joint-limit/7200)
**Author:** [@mohamedghita](https://forum.universal-robots.com/u/mohamedghita)\ **Replies:** 3\ **Last updated:** [May 4, 2020, 7:29pm UTC](https://forum.universal-robots.com/t/elbow-joint-limit/7200 "2020-05-04T19:29:22Z")
a UR5 was sent for wrist joint maintenance. Now, I have a problem with the elbow joint reaching the limit when the arm is stretched. I can not move the elbow the other direction because the base comes in the way. What c… --- ## [Implement impedance control - Inertia and jacobian matrix](https://forum.universal-robots.com/t/implement-impedance-control-inertia-and-jacobian-matrix/6600)
**Author:** [@oren.spector](https://forum.universal-robots.com/u/oren.spector)\ **Replies:** 7\ **Last updated:** [March 23, 2020, 11:50am UTC](https://forum.universal-robots.com/t/implement-impedance-control-inertia-and-jacobian-matrix/6600 "2020-03-23T11:50:37Z")
Hello all, I need H,J of the robot to perform trajectory in the eef in real-time. I didn’t find any note or explanation of how it can be done. for clarity, i would like to define parameters and receive it as input via r… --- ## [Make sure a list of poses can run without exception](https://forum.universal-robots.com/t/make-sure-a-list-of-poses-can-run-without-exception/1304)
**Author:** [@anon21910823](https://forum.universal-robots.com/u/anon21910823)\ **Replies:** 3\ **Last updated:** [February 25, 2020, 1:24pm UTC](https://forum.universal-robots.com/t/make-sure-a-list-of-poses-can-run-without-exception/1304 "2020-02-25T13:24:39Z")
Hello all, I have an external program that loads lots of poses and sends it to the robotic controller to be run via TCP-IP. The issue is sometimes the motion will be cut off due to initial positioning of the robot (i.e … --- ## [Two Force Torque Sensors possible?](https://forum.universal-robots.com/t/two-force-torque-sensors-possible/4563)
**Author:** [@anon2720996](https://forum.universal-robots.com/u/anon2720996)\ **Replies:** 9\ **Last updated:** [June 26, 2019, 2:00pm UTC](https://forum.universal-robots.com/t/two-force-torque-sensors-possible/4563 "2019-06-26T14:00:23Z")
Hi all, I was wondering if it is possible at all to use two force sensors simultaneously on a UR10? One would be normally installed at the robot flange, the other one would be used for a hand guide. Thank you in advanc… --- ## [NOTICE: Change to Control Box dimensions](https://forum.universal-robots.com/t/notice-change-to-control-box-dimensions/3577)
**Author:** [@jbm](https://forum.universal-robots.com/u/jbm)\ **Replies:** 1\ **Last updated:** [June 16, 2019, 5:46pm UTC](https://forum.universal-robots.com/t/notice-change-to-control-box-dimensions/3577 "2019-06-16T17:46:34Z")
Universal Robots is planning to make changes to the mechanical dimensions of the Control Box. This applies to both e-Series and CB3. Timeframe: New control boxes will be shipped during March 2019. In short: CB3 and e-… --- ## [DH parameters of e-series robots](https://forum.universal-robots.com/t/dh-parameters-of-e-series-robots/2618)
**Author:** [@anon75497214](https://forum.universal-robots.com/u/anon75497214)\ **Replies:** 4\ **Last updated:** [September 4, 2018, 6:34pm UTC](https://forum.universal-robots.com/t/dh-parameters-of-e-series-robots/2618 "2018-09-04T18:34:44Z")
Since the new e-series robots have different dimensions, I wanted to know when you will provide the DH parameters for these robots or update your document about the dimensions of the CB models \[1\]. I looked through your … --- ## [Moment of inertia UR3 UR5 UR10](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745)
**Author:** [@anon62140534](https://forum.universal-robots.com/u/anon62140534)\ **Replies:** 2\ **Last updated:** [March 23, 2018, 2:09pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745 "2018-03-23T14:09:53Z")
I am building a robot mobility platform and I need to understand the maximum moment of inertia for all three robots. I thought I would ask here first and if the information is unavailable, then I will calculate and hop… --- ## [UR5 Keep Out zone / Working Area](https://forum.universal-robots.com/t/ur5-keep-out-zone-working-area/1019)
**Author:** [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Replies:** 1\ **Last updated:** [July 31, 2017, 7:06am UTC](https://forum.universal-robots.com/t/ur5-keep-out-zone-working-area/1019 "2017-07-31T07:06:38Z")
Dear, The UR5 robot halts if the robot has to perform movements which are close to the origin. There is a cylindrical region around the origin that delineates this area. Does anyone have the exact size of this “keep-ou… --- ## [Extending UR robot arm length](https://forum.universal-robots.com/t/extending-ur-robot-arm-length/661)
**Author:** [@nithinpanand](https://forum.universal-robots.com/u/nithinpanand)\ **Replies:** 4\ **Last updated:** [March 30, 2017, 9:12pm UTC](https://forum.universal-robots.com/t/extending-ur-robot-arm-length/661 "2017-03-30T21:12:58Z")
Hello, Is it ok to extend the length of a UR 10 robot arm?What all things should be considered while doing so? Is warranty gets void if its done? Is there a way to reconfigure the robot dh parameters if the arm length … --- ## [How are the final joint positions chosen in MoveL?](https://forum.universal-robots.com/t/how-are-the-final-joint-positions-chosen-in-movel/541)
**Author:** [@anon67492748](https://forum.universal-robots.com/u/anon67492748)\ **Replies:** 3\ **Last updated:** [February 20, 2017, 10:53am UTC](https://forum.universal-robots.com/t/how-are-the-final-joint-positions-chosen-in-movel/541 "2017-02-20T10:53:29Z")
As there are different configurations to reach a certain goal pose I wonder how these are selected and which path is used. If for example wrist1 is at zero, a translation in z can be achieved by moving mostly shoulder, e…