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Robot battle · Sourced specifications

UR5e vs ABB GoFa 5

Both are 5 kg, six-axis collaborative arms. On the documents cited here, UR5e is lighter, publishes a higher maximum TCP speed and rotates ±360° on every joint. GoFa 5 reaches further and publishes a tighter repeatability figure.

Several headline numbers are measured differently by the two manufacturers. Each row shows the published value, the document behind it and, where it matters, why the figures are not directly comparable.

Editorial source check: 8 October 2026. Specialist technical review: not yet performed. Why we say this

At a glance

Universal Robots

UR5e

Maximum payload
5 kg
Reach
850 mm
Pose repeatability
±0.03 mm (ISO 9283)
Degrees of freedom
6 rotating joints
Maximum TCP speed
4 m/s

ABB Robotics

GoFa 5

Maximum payload
5 kg
Reach
950 mm to wrist centre; 1,050 mm to tool flange
Pose repeatability
0.02 mm
Degrees of freedom
6 axes
Maximum TCP speed
2.2 m/s

Specification by specification

Source on every row
SpecificationUniversal Robots UR5eABB Robotics GoFa 5
Maximum payloadWhat is this?5 kg [1]Usable payload falls as the tool's centre of gravity moves away from the flange; the PDF datasheet includes a payload-versus-offset chart.5 kg [7]
ReachWhat is this?ABB publishes reach to the wrist centre and to the flange; Universal Robots publishes one figure.850 mm [1]950 mm to wrist centre; 1,050 mm to tool flange [7]ABB publishes both reference points. Universal Robots publishes a single reach figure for UR5e.
Pose repeatabilityWhat is this?Universal Robots cites ISO 9283. The cited ABB documents do not name a test standard.±0.03 mm (ISO 9283) [1]0.02 mm [9]The cited ABB documents do not name the test standard. ABB's current GoFa page describes 0.02 mm as best in class.
Degrees of freedomWhat is this?6 rotating joints [1]6 axes [8]
Maximum TCP speedWhat is this?A ceiling, not a collaborative operating speed.4 m/s [1]2.2 m/s [8]ABB notes that the safe collaborative speed is lower and depends on the application.
Joint working rangesWhat is this?±360° on all six joints [1]±180° on axes 1, 2, 4, 5 and 6; −225° to +85° on axis 3 [8]
Maximum joint speeds±180°/s on all six joints [1]125°/s (axes 1–2), 140°/s (axis 3), 200°/s (axes 4–6) [8]
Robot weight20.7 kg [1]28 kg [9]
FootprintØ151 mm [1]165 × 165 mm [8]
MountingAny orientation [1]Any angle, including table, wall or ceiling [8]
Ingress protectionIP54 [1]IP54 [8]ABB's current GoFa page states protection up to IP67 across the family; confirm the option for a specific GoFa 5 configuration.
Cleanroom classificationClass 4 at 20% speed and payload; Class 5 at 40% or higher [3]Not listed on the September 2026 online datasheet.ISO cleanroom class 4 [9]
Safety ratingEN ISO 13849-1 (PLd, Category 3); EN ISO 10218-1 [1]PL d, Category 3 [8]
Tool flangeWhat is this?EN ISO 9409-1-50-4-M6 [1]ISO 9409-1-50 [8]
Controllere-Series control box (OEM version also available) [1]OmniCore C30 [8]
Programming12-inch touchscreen with PolyScope graphical user interface [1]FlexPendant apps, lead-through programming and RobotStudio offline programming [7]
Maximum power consumption570 W [1]Unknown: not published in the documents cited
Ambient operating temperature0–50 °C [1]The SW 10.12 manual adds that above 35 °C the robot may operate at reduced speed and performance.Unknown: not published in the documents cited
Noise< 67 dB(A) [1]Unknown: not published in the documents cited

Where UR5e leads on published figures

  • Higher published maximum TCP speed: 4 m/s against 2.2 m/s.
  • Lighter published arm: 20.7 kg including cable against 28 kg.
  • Smaller published footprint: Ø151 mm against a 165 × 165 mm base.
  • Wider published joint ranges: ±360° on every joint, where GoFa 5 lists ±180° and −225° to +85° on axis 3.
  • A tool-flange force/torque sensor with published range, precision and accuracy figures.
  • Power, noise and temperature limits are published; the ABB documents cited do not give them.

Where GoFa 5 leads on published figures

  • Longer published reach: 950 mm to the wrist centre and 1,050 mm to the flange, against 850 mm.
  • Tighter published repeatability: 0.02 mm against ±0.03 mm, subject to the test-basis caveat.
  • Faster published wrist axes: 200°/s on axes 4–6 against 180°/s.
  • Torque and position sensors in each of the six joints, according to ABB.
  • A separately published absolute accuracy figure (0.1 mm with ABB's Ultra Accuracy feature).

What cannot fairly be compared

  • Reach: ABB gives both a wrist-centre and a flange figure; Universal Robots gives a single 850 mm figure. Check the reference point against your own cell layout before treating the difference as usable reach.
  • Repeatability: Universal Robots states ISO 9283 for ±0.03 mm. ABB's documents give 0.02 mm (2023 portfolio) and 0.05 mm (2021 datasheet) without naming the standard on the cited pages.
  • Force sensing: UR5e publishes a force/torque sensor at the tool flange; ABB describes torque sensing in every joint. The architectures differ, and neither specification describes contact behaviour in your application.
  • Safety: both publish PL d, Category 3. UR5e's count of configurable safety functions has no ABB equivalent in the cited documents; ABB lists SafeMove Collaborative as included.
  • Speed: maximum TCP speed is a ceiling. ABB notes that safe collaborative speeds are lower, and for both arms the risk assessment sets the real limit.

Questions to answer before choosing

  1. What is the heaviest tool plus part, and how far is its centre of gravity from the flange?
  2. Which reference point does the layout need: wrist centre, flange or the tool centre point?
  3. Will the cell run collaboratively, fenced, or switch between modes? That decides the usable speed.
  4. Which controller, fieldbus and programming tools does the site already support?
  5. Does the environment need more than IP54, or a cleanroom classification at your operating speed?
  6. Who will service the arm locally, and which spare parts and documentation are available?

This comparison uses manufacturer documentation only. RoboMag has not tested either arm, and the published figures are not a performance ranking.

UR5e full specifications GoFa 5 full specifications Compare other machines

Sources for every value

  1. [1] UR5e technical specification (online datasheet)Universal Robots · Updated September 2026 · accessed 8 October 2026
  2. [2] UR5e technical specifications, user manual appendixUniversal Robots · Online user manual, SW 10.12 edition · accessed 8 October 2026
  3. [3] UR5e e-Series datasheet (PDF)Universal Robots · Dated 08/2023, updated December 2024 · accessed 8 October 2026
  4. [4] DH parameters for calculations of kinematics and dynamicsUniversal Robots · Support article; UR5e/UR7e table · accessed 8 October 2026
  5. [5] Service Handbook, e-SeriesUniversal Robots · PolyScope 5.26 / PolyScope X 10.12 · accessed 8 October 2026
  6. [6] Inspection plan, e-Series service manualUniversal Robots · SW 5.26 edition · accessed 8 October 2026
  7. [7] GoFa collaborative robotsABB Robotics · Product family page (GoFa 5, GoFa 10, GoFa 12) · accessed 8 October 2026
  8. [8] GoFa CRB 15000 datasheet (Spanish edition)ABB · © 2021 · Spanish-language document · accessed 8 October 2026
  9. [9] ABB collaborative robotics portfolioABB · 9AKK108471A7656, revision A, © 2023 · accessed 8 October 2026
  10. [10] ABB launches GoFa higher payload cobot for collaborative tasks up to 5kgABB · Press release, 24 February 2021 · accessed 8 October 2026