Created date: June 23rd, 2021

Robots: UR10e

Series: e-Series only

1. What is Tool down Motion?

Tool down motion, often referred to “wrist down” motion is the scenario where the tool stays
orientated towards the ground while carrying a payload. A good reference application that showcases
this motion profile is palletizing. In a typical palletizing application, the robot system picks up a product
(box, bag, etc.) and rotates to the pallet and places the product on a pallet. The product typically only
needs spun about the tool Z-axis but not about the X or Y.

This does not restrict robot face plate or wrist 3 to being parallel to the ground, but this is often the
case.

2. Determine the Center of Gravity distance from the Tool Z axis

To know what the maximum allowed payload can be, you first must know what the distance is from the center of gravity (CoG) of the product to the center of the robot too flange/ wrist 3.

The distance from the CoG to the tool Z axis is in between the yellow arrows

3. Use CoG distance on the Payload curve to find maximum payload

The payload curve for the robot can be found in the latest User Manual on the Universal Robots Support Site (www.universal-robots.com/support) under the “Maximum Payload” section. The graph shows the CoG distance on the X axis and the Payload on the Y. To find the max payload, first locate the CoG value then, go up until the curve, go over to find the maximum payload.

Examples of maximum payloads at given CoG distances