Universal Robots의 협동로봇 UR e series는 3, 7.5, 12.5, 16kg의 6가지 페이로드 옵션을 제공하며 이는 다양한 애플리케이션에 사용 가능하게 합니다. 6축의 관절로 구성되어 있어 놀라운 유연성 및 기존 생산 환경에 쉽게 통합할 수 있으며 다양한 작업을 수행할 수 있도록 제작되었습니다.
| Model | UR3e | UR7e | UR12e | UR16e |
| Payload | 3 kg (6.6 lbs) | 7.5 kg (16 lbs) | 12.5 kg (27.5 lbs) | 16 kg (35.3 lbs) |
| Reach | 500 mm (19.7 in) | 850 mm (33.5 in) | 1300 mm (51.2 in) | 900 mm (35.4 in) |
| Degrees of freedom | 6 rotating joints | |||
| Programming | 12 inch touchscreen with PolyScope graphical user interface | |||
| Model | UR3e | UR7e | UR12e | UR16e | |||||
| Power consumption | Maximum power | 300 W | 570 W | 615 W | 585 W | ||||
| Moderate operating settings | 150 W | 200 W | 350 W | 350 W | |||||
| Operating temperature range | Ambient temperature: 0-50 °C (32-122 °F) | ||||||||
| Safety functions | 21 configurable safety functions | ||||||||
| In compliance with | EN ISO 13849-1 (PLd category 3) and EN ISO 10218-1 | ||||||||
| Force sensing, tool flange/torque sensor | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z | Force, x-y-z | Torque, x-y-z | |
| Range | ±30.0 N | ±10.0 Nm | ±50.0 N | ±10.0 Nm | ±100.0 N | ±10.0 Nm | ±160.0 N | ±10.0 Nm | |
| Precision | ±2.0 N | ±0.1 Nm | ±3.5 N | ±0.2 Nm | ±5.0 N | ±0.2 Nm | ±5.0 N | ±0.2 Nm | |
| Accuracy | ±3.5 N | ±0.1 Nm | ±4.0 N | ±0.3 Nm | ±5.5 N | ±0.5 Nm | ±5.5 N | ±0.5 Nm | |
| Model | UR3e | UR7e | UR12e | UR16e | |||||
| Typical TCP speed | 3 m/s | 4 m/s | 4 m/s | 3 m/s | |||||
| Pose repeatability per ISO 9283 | ± 0.03 mm | ± 0.03 mm | ± 0.05 mm | ± 0.05 mm | |||||
| Axis movement | Working range | Maximum speed | Working range | Maximum speed | Working range | Maximum speed | Working range | Maximum speed | |
| Base | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 120°/s | ± 360° | ± 120°/s | |
| Shoulder | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 120°/s | ± 360° | ± 120°/s | |
| Elbow | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | |
| Wrist 1 | ± 360° | ± 360°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | |
| Wrist 2 | ± 360° | ± 360°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | |
| Wrist 3 | Infinite | ± 360°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | ± 360° | ± 180°/s | |
| Model | UR3e | UR7e | UR12e | UR16e | |
| IP classification | IP54 | ||||
| Noise | < 60 dB(A) | < 65 dB(A) | < 65 dB(A) | < 65 dB(A) | |
| Arm mounting | Any orientation | ||||
| I/O Ports | Digital In | 2 | 2 | 2 | 2 |
| Digital Out | 2 | 2 | 2 | 2 | |
| Analog in / Communication | 2 | 2 | 2 | 2 | |
| Tool I/O power supply voltage | 12/24V | ||||
| Tool I/O power supply | 600 mA | 1.5 A (Dual pin) 1 A (Single pin) | 2 A (Dual pin) 1 A (Single pin) | 2 A (Dual pin) 1 A (Single pin) | |
| Model | UR3e | UR7e | UR12e | UR16e | |
| Footprint | Ø128 mm | Ø151 mm | < Ø190 mm | Ø190 mm | |
| Materials | Aluminium, plastic, steel | ||||
| Tool flange interface | M8 8-pin female, EN ISO-9409-1-50-4-M6 | ||||
| Connector type | M8 8-pin female | ||||
| Cable length (robot arm) | 6 m (236 in) | ||||
| Weight including cable | 11.2 kg (24.7 lbs) | 20.6 kg (45.4 lbs) | 33.5 kg (73.9 lbs) | 33.1 kg (73 lbs) | |
| Humidity | ≤ 90% RH (non-condensing) | ||||
| Model | CB 5.5 (PolyScope 5) CB 5.6 (PolyScope X) | OEM 5.5 (PolyScope 5) OEM 5.6 (PolyScope X) | |
| Robot types | e-Series, UR Series | e-Series, UR Series | |
| Software compatibility | PolyScope X | PolyScope X | |
| IP Classification | IP44 | IP20 | |
| Cleanroom Classification ISO 14644-1 | 6 | 6 | |
| Operating temperature range | 0–50℃ (32–122°F) | 0–50℃ (32–122°F) | |
| I/O ports | Digital In | 16 | 16 |
| Digital Out | 16 | 16 | |
| Analog In | 2 | 2 | |
| Analog Out | 2 | 2 | |
| Quadrature Digital inputs | 4 | 4 | |
| I/O Power supply | 24V, 2A | 24V, 2A | |
| Industrial protocols | Modbus TCP (Client/Server) Ethernet/IP Adapter PROFINET device/PROFIsafe ROS/ROS2 | Modbus TCP (Client/Server) Ethernet/IP Adapter PROFINET device/PROFIsafe ROS/ROS2 | |
| Hardware interface | Ethernet 1 Gb/s USB 2.0, USB 3.0 Mini DisplayPort Injection Molding Machine Interface (SPI AN-146 & Euromap-67) | Ethernet 1 Gb/s USB 2.0, USB 3.0 Mini DisplayPort Injection Molding Machine Interface (SPI AN-146 &am | |
| Model | CB 5.6 (PolyScope X) | OEM 5.6 (PolyScope X) |
| Control Box size (WxHxD) | 460 mm × 449 mm × 254 mm (18.2 in × 17.6 in × 10 in) |
451 mm × 168 mm × 150 mm (17.6 in × 6.6 in × 5.9 in) |
| Weight | 12 kg (26.5 lbs) | AC model: 4.7 kg (10.4 lbs) DC model: 4.3 kg (9.48 lbs) |
| Power supply output | 1500 W | 1500 W |
| Materials | Powder coated steel | Aluminium |
| Humidity | ≤ 90% RH (non-condensing) | ≤ 90% RH (non-condensing) |
| Model | Standard | 3PE |
| Robot types | e-Series (standard) | e-Series (optional), UR Series (standard) |
| IP Classification | EN ISO 10218-1 EN ISO 13849-1 | EN ISO 10218-1 EN ISO 13849-1 |
| Humidity | ≤ 90% RH (non-condensing) | ≤ 90% RH (non-condensing) |
| Display resolution | 1200 × 800 pixels | 1200 × 800 pixels |
| Freedrive | 1 button | 2 buttons to support for ambidextrous operation |
| Model | Standard | 3PE |
| Materials | Plastic (PC/ASA) | Plastic (PC/ASA) |
| Teach Pendant size (W×H×D) | 300 mm × 231 mm × 50 mm (11.8 in × 9.1 in × 1.97 in) | 300 mm × 231 mm × 50 mm (11.8 in × 9.1 in × 1.97 in) |
| Weight (including 1 m Teach Pendant cable) | 1.6 kg (3.5 lbs) | 1.8 kg (3.961 lbs) |
| Cable length (Teach Pendant) | 4.5 m (177.17 in) | 4.5 m (177.17 in) |
