Payload

The weight and center of gravity of the payload attached to the tool output flange of the robot should be defined accurately. In high torque screwdriving applications, the tool mounting should be as lightweight as possible, and its center of gravity offset should not be too close to the maximum payload vs center of gravity offset curve shown in the user manual. The below example shows the curve for UR10; the offset vs payload should lie within the green area for this type of application.