README.md
Universal Robots UR5e
The Universal Robots UR5e is a 6-axis collaborative robot (cobot) featuring a 5kg payload capacity, 850mm reach and ±0.03mm pose repeatability.
The UR5e is designed for medium-duty automation tasks such as machine tending, assembly, dispensing, inspection and material handling.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 — Base |
-360° |
360° |
0° |
180°/s |
800°/s² |
| J2 — Shoulder |
-360° |
360° |
-90° |
180°/s |
800°/s² |
| J3 — Elbow |
-360° |
360° |
0° |
180°/s |
800°/s² |
| J4 — Wrist 1 |
-360° |
360° |
-90° |
180°/s |
800°/s² |
| J5 — Wrist 2 |
-360° |
360° |
0° |
180°/s |
800°/s² |
| J6 — Wrist 3 |
-360° |
360° |
0° |
180°/s |
800°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 4000mm/s
- Recommended maximum TCP linear acceleration: 2500mm/s²
- Recommended maximum TCP angular speed: 180°/s
- Recommended maximum TCP angular acceleration: 800°/s²
Notes
- The 800°/s² joint acceleration and 2500mm/s² linear acceleration values are Universal Robots' recommended programming ceilings, not fixed physical actuator limits.
- Achievable acceleration depends on the robot pose, payload, payload centre of gravity, TCP forces and trajectory.