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SebastienSebastien Posts: 219 Handy
in Integration
Hi pros, 
in all other robot brands than UR, usually you can find forces generated during normal operation and during e-stop in all directions. This helps us design correct suctures that are strong enough to support these. Do you know where I can find these for UR robots?
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  • David_GariepyDavid_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 188 Handy
    edited March 2017
    I couldn't directly find this information but this might be helpful : https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/cb3-stop-performance-17740/
    David Gariépy
    Integration Coach
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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,252 Handy
    Here is some information on how much torque each joint is capable of, not sure if this is what you are looking for either but at least can give you an idea of how much torque the base joint is capable of putting into the stand.
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  • SebastienSebastien Posts: 219 Handy
    @matthewd92
    We are looking at a project where we need UR10 on a rail system. Rail companies are asking us about forces generated by the robot on the tracks. Do you have tips for this?
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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,252 Handy
    YOu could calculate the momentums if you know what you velocity is going to be for starting and stopping obviously.  I know RTDE broadcasts momentums, probably in one of the modbus registers as well. I will try to look when I don't have my head under a robot later today. Using that you could run your program and see what types of momentum you are seeing at the base. There is also a script function for returning the joint torques.  
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  • JacobBomJacobBom Posts: 11 Handy
    @Sebastien
    Please pay attention to section "4.3 Mounting" in the Hardware Installation Manual of the UR User Manual.
    This section sets up a number of demands to the robot mounting, in terms of strength and vibrations, as well as tightening torque for mounting bolts.
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