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YOKOGAWA UR1BG3-060N-6K C-2TA-N
Product Introduction:
The UR1BG3-060N-6K C-2TA-N is a 6-axis collaborative robot (cobot) from Yokogawa’s UR1 series, designed for safe human-robot collaboration in manufacturing and assembly environments. The model code decodes as: UR1 = UR1 series, BG3 = Controller configuration, 060N = 6-axis, N-series arm, 6K = 6 kg payload, C = Cabinet-mounted controller, 2TA-N = specific I/O and option configuration.
Detailed content
Technical Specifications:
| Parameter | Value |
|---|---|
| Robot Type | 6-Axis Collaborative Robot (Cobot) |
| Payload Capacity | 6 kg (13.2 lbs) |
| Reach | 900 mm (35.4 in) |
| Repeatability | ±0.03 mm |
| Number of Axes | 6 (J1–J6) |
| Max. Speed (J1–J3) | 180°/s (joint speed) |
| Max. Speed (J4–J6) | 360°/s (joint speed) |
| Max. Joint Torque (J1) | 104 N·m |
| Max. Joint Torque (J2) | 85 N·m |
| Max. Joint Torque (J3) | 38 N·m |
| Weight (Robot Only) | 23.5 kg (51.8 lbs) |
| Mounting | Floor, Ceiling, Wall, Angle (360°) |
| Degree of Protection | IP50 (robot), IP20 (controller cabinet) |
| Operating Temperature | 0°C to +45°C |
| Power Supply | 100–240 V AC, 50/60 Hz, single-phase |
| Power Consumption | Max. 350 W (typical operation), 500 W (peak) |
| Controller Type | UR1BG3 (Cabinet-mounted controller C) |
| I/O Configuration | 2TA-N = 2 × Tool I/O + specific safety I/O |
| Safety Rating | ISO 10218-1:2011, ISO/TS 15066:2016, PL d, Cat. 3, SIL CL2 |
| Force Limiting | Yes (collaborative mode, configurable per axis) |
| Speed Limiting | Yes (collaborative mode, configurable per zone) |
| Programming Interface | Polyscope teach pendant (touchscreen, 12.7 cm) |
| Communication | Ethernet/IP, PROFINET, Modbus TCP, EtherCAT (via option) |
| Software | URCaps SDK, URSim offline simulation |
Functional Features:
- Built-in force/torque sensing — detects collision and stops within ≤ 5 ms
- Speed and separation monitoring (SSM) — adjustable safety zones around robot
- Drag-to-teach programming — no coding required for basic tasks
- URCaps ecosystem — plug-and-play software modules for vision, grippers, conveyor tracking
- 360° unlimited rotation on J1 (wrist) axis
- Built-in safety functions: reduced speed mode, free-drive mode, protective stop
- Ethernet-based communication — easy integration with PLC, vision systems, conveyors
Material Composition:
- Arm Links: Aluminum alloy (6061-T6) with anodized finish
- Joint Caps: Glass-fiber reinforced polyamide (PA66-GF30)
- Wrist: Aluminum alloy + stainless steel bearings
- Cable Routing: Internal cable management through arm links
- Controller Cabinet: Powder-coated steel, IP20
Structural Features:
- Cylindrical arm profile — diameter: 149 mm
- Integrated cable routing — no external cable loops
- Mounting holes on base flange — M8 threaded, 4-point pattern
- Tool flange: Tool Center Point (TCP) — ISO 9409-1 compatible
- Teach pendant: 12.7 cm (5″) color touchscreen, IP65 rated
Working Principle:
Each joint is driven by a brushless DC servo motor with harmonic drive reducer and absolute encoder (20-bit resolution). The controller executes inverse kinematics calculations in real-time to convert Cartesian waypoints to joint trajectories. Collaborative safety is achieved through continuous monitoring of motor currents (force estimation) and encoder-based speed tracking. When a threshold is exceeded (force > 150 N or speed > 250 mm/s in collaborative zone), the robot executes a Protective Stop (Category 0) within milliseconds.
Advantages & Highlights:
- No safety cage required — reduces floor space and installation cost by up to 30%
- ±0.03 mm repeatability — suitable for precision assembly
- Quick deployment — programming in minutes, not days
- Flexible mounting — floor, ceiling, wall, or any angle
- URCaps ecosystem — over 100+ certified plug-ins for vision, force control, conveyor tracking
Applicable Industries:
- Electronics Assembly (PCB handling, screw driving, inspection)
- Automotive (small parts assembly, quality inspection)
- Medical Device Manufacturing (cleanroom compatible)
- Food & Beverage (packaging, palletizing)
- Machine Tending (CNC loading/unloading)
- Laboratory Automation (sample handling)
Installation Requirements:
- Floor mounting: use 4× M10 anchor bolts, torque 50 N·m
- Ceiling mounting: verify structural support for 23.5 kg + payload + dynamic loads
- Power supply: dedicated circuit, 10 A fuse recommended
- Network: Ethernet connection to PLC/SCADA, static IP recommended
- Safety zone configuration: define collaborative zones in URSim before go-live
Usage Precautions:
- Do not exceed 6 kg payload — includes tooling and gripped object weight
- Do not operate in environments with water jets — IP50 rating is not washdown-rated
- Perform risk assessment per ISO 10218 and ISO/TS 15066 before deployment
- Update firmware regularly — safety functions are updated via UR software
- Do not modify safety parameters without qualified personnel — will void safety certification
- Max. operating temperature: +45°C — do not install in direct sunlight or near heat sources
