# Universal Robots UR20

Hardware · `UR20` · verification: source checked

The UR20 is a six-axis collaborative industrial robot from Universal Robots with a nominal 20 kg payload and 1750 mm reach. It has a maximum TCP speed of 5 m/s and pose repeatability of ±0.1 mm. It is programmed through a 12-inch touchscreen running PolyScope and includes tool-flange force/torque sensing.

## Specification

| Property | Value |
|---|---|
| Category | collaborative robot |
| Axes | 6 |
| Payload | 20 kg |
| Reach | 1750 mm |
| Repeatability | 0.1 mm |
| Weight | 64 kg |
| Max TCP speed | 5000 mm/s |
| IP rating | IP65 |
| Operating temp min | 0 °C |
| Operating temp max | 50 °C |

### Joints

| Name | Range min (°) | Range max (°) | Max speed (°/s) |
|---|---|---|---|
| Base | -360 | 360 | 120 |
| Shoulder | -360 | 360 | 120 |
| Elbow | -360 | 360 | 150 |
| Wrist 1 | -360 | 360 | 210 |
| Wrist 2 | -360 | 360 | 210 |
| Wrist 3 | -360 | 360 | 210 |

## Connected

- Manufacturer: [Universal Robots](https://machineschema.com/manufacturer/universal-robots.md)
- Protocols: [EtherNet/IP](https://machineschema.com/protocol/ethernet-ip.md), [Modbus TCP](https://machineschema.com/protocol/modbus-tcp.md), [PROFINET](https://machineschema.com/protocol/profinet.md)

## Safety

- Nominal payload is 20 kg; the 25 kg figure applies only with boundary conditions detailed in the manual.
- 17 configurable safety functions; complies with EN ISO 13849-1 (PLd Category 3) and EN ISO 10218-1.
- Cleanroom Class 4 applies only at ≤80% velocity and payload.

## Study notes

- Six rotating joints in a 2-1-3 physical architecture.
- Max TCP speed is 5 m/s; pose repeatability is ±0.1 mm per ISO 9283.
- Arm IP65; control box IP44; teach pendant IP54.
- Operating ambient temperature is 0–50 °C; humidity is ≤90% RH non-condensing.
- Weight including cable is 64 kg; footprint is Ø245 mm.
- Tool flange is EN ISO-9409-1-80-6-M8 with an M8 8-pin female connector.
- Control box measures 460 x 449 x 254 mm and weighs 12 kg.
- Programming uses a 12-inch touchscreen with PolyScope GUI.
- Tool-flange force/torque sensing range is ±200 N and ±20 Nm.
- Industrial protocols listed: Modbus TCP (client/server), EtherNet/IP adapter, PROFINET device with PROFIsafe, and ROS/ROS2.

## Sources

1. [https://www.universal-robots.com/media/1824603/ur20_data_sheet.pdf](https://www.universal-robots.com/media/1824603/ur20_data_sheet.pdf) (accessed 2026-10-25)

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