Universal Robots · Collaborative robot · Commercial product

UR15

UR15 is a six-axis collaborative arm from Universal Robots with a 15 kg maximum payload, a 1,300 mm reach and a 5 m/s maximum TCP speed.

Full specifications Compare Universal Robots

Editorial source check: 9 October 2026. Specialist technical review: not yet performed. Why we say this

Machine Index record · Universal Robots

UR15

Maximum payload: 15 kg
Reach: 1,300 mm
Degrees of freedom: 6 rotating joints
Pose repeatability: ±0.05 mm (ISO 9283)

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Key specifications

Every value sourced

Maximum payload: 15 kg [1]
Reach: 1,300 mm [1]
Degrees of freedom: 6 rotating joints [1]
Pose repeatability: ±0.05 mm (ISO 9283) [1]
Maximum TCP speed: 5 m/s [1]
Maximum power consumption: 550 W [1]
Ingress protection: IP65 [1]
Ambient operating temperature: 0–50 °C [1]
Robot arm weight (without cable): 40.7 kg [1]

Full specifications

47 fields

Performance

Maximum payload What is this?	15 kg [1]Universal Robots lists 17.5 kg with boundary conditions set out in the manual.
Reach What is this?	1,300 mm [1]
Degrees of freedom What is this?	6 rotating joints [1]
Pose repeatability What is this?	±0.05 mm (ISO 9283) [1]

Motion

Maximum TCP speed What is this?	5 m/s [1]
Joint working ranges What is this?	±360° on all six joints [1]
Maximum joint speeds	±180°/s (base, shoulder); ±240°/s (elbow); ±300°/s (wrists) [1]

Force and torque sensing

Force range, x-y-z	±150.0 N [1]
Force precision	±7.5 N [1]
Force accuracy	±8.3 N [1]
Torque range, x-y-z	±10.0 Nm [1]
Torque precision	±0.2 Nm [1]
Torque accuracy	±0.5 Nm [1]

Safety

Configurable safety functions	23 [1]
Safety compliance	EN ISO 13849-1 (PLd, Category 3); EN ISO 10218-1; UL 1740 [1]

Power

Maximum power consumption	550 W [1]

Environment

Ingress protection	IP65 [1]
Ambient operating temperature	0–50 °C [1]
Humidity	≤90% RH, non-condensing [1]
Noise	< 67 dB(A) [1]
Cleanroom classification (ISO 14644-1)	Class 4 at ≤80% velocity and payload [1]

Physical

Robot arm weight (without cable)	40.7 kg [1]
Footprint	Ø204 mm [1]
Mounting	Any orientation [1]
Materials	Aluminium, plastic, steel [1]
Robot arm cable length	6 m [1]
Status indication	Light ring at the robot base [1]

Tool flange and I/O

Tool flange What is this?	EN ISO 9409-1-50-4-M6 [1]
Tool connector	M8 8-pin female [1]
Tool digital I/O	2 inputs, 2 outputs [1]
Tool analog inputs	2, or 1 × RS485 [1]
Tool I/O power supply	12/24 V; 2 A dual pin, 1 A single pin [1]

Controller and communications

Controller	Control box (OEM version also available) [1]
Control box ingress protection	IP44 [1]
Control box I/O	16 digital in, 16 digital out, 2 analog in, 2 analog out, 4 quadrature digital inputs [1]
Control box I/O power supply	24 V, 2 A [1]
Industrial protocols	Modbus TCP (client/server), EtherNet/IP adapter, PROFINET device, PROFIsafe, ROS/ROS2 [1]
Hardware interfaces	Ethernet 1 Gb/s, USB 2.0, USB 3.0, Mini DisplayPort; injection moulding machine interface on the OEM version [1]
Control box power source	100–240 VAC, 47–440 Hz [1]
Control box size (W × H × D)	460 × 449 × 254 mm [1]
Control box weight	12 kg [1]

Programming

Programming	12-inch touchscreen with PolyScope graphical user interface [1]

Teach pendant

Teach pendant display	1280 × 800 pixels [1]
Teach pendant size (W × H × D)	300 × 231 × 50 mm [1]
Teach pendant weight	1.8 kg including 1 m of cable [1]
Teach pendant cable length	4.5 m [1]
Teach pendant ingress protection	IP54 [1]

Joint data

Why joint limits matter

Joint	Working range	Maximum speed	Source
Base	±360°	±180°/s	[1]
Shoulder	±360°	±180°/s	[1]
Elbow	±360°	±240°/s	[1]
Wrist 1	±360°	±300°/s	[1]
Wrist 2	±360°	±300°/s	[1]
Wrist 3	±360°	±300°/s	[1]

Kinematics: DH parameters

DH and inverse kinematics explained

Standard Denavit–Hartenberg parameters as published by Universal Robots. θ is the joint variable, so no fixed θ offset is listed. Universal Robots notes that its “a” corresponds to the “r” parameter in some DH references. [2]

UR15 nominal Denavit–Hartenberg parameters, link masses and centres of mass
Joint	a (m)	d (m)	α (rad)	Mass (kg)	Centre of mass (m)
1	0	0.2186	π/2	9.9883	[0.000024, −0.033309, 0.025304]
2	−0.6475	0	0	14.9255	[0.419009, −0.000083, 0.192787]
3	−0.5164	0	0	6.1015	[0.305471, 0.000019, 0.070552]
4	0	0.1824	π/2	2.0890	[0.000025, −0.019695, 0.016413]
5	0	0.1361	−π/2	2.0869	[0.000025, 0.019960, 0.015886]
6	0	0.1434	0	1.0666	[−0.000018, −0.000112, −0.053397]

Universal Robots publishes this table as “UR15”.
These are nominal design values. A specific arm's calibrated kinematics can differ; check your controller's calibration data before relying on nominal values for absolute positioning.

Where it sits in the range

UR15 lists 15 kg, or 17.5 kg under boundary conditions set out in the manual, with a 1,300 mm reach and a 5 m/s maximum TCP speed. Its wrist joints are rated at ±300°/s and its elbow at ±240°/s, faster than the e-Series arms of similar payload.

Like UR18, UR20 and UR30, its datasheet lists IP65 protection, a status light ring at the base and UL 1740 among its standards, and it quotes arm weight without the cable.

What the datasheet cannot answer

A 5 m/s ceiling applies to fenced or mode-switching operation; collaborative speeds are set by the risk assessment. RoboMag has not physically tested UR15.

Comparisons

Build your own comparison

No permanent comparison has been published for UR15 yet. RoboMag publishes one only when both machines have enough sourced, like-for-like data. Use the comparison tool to place sourced profiles side by side.

Official documents

Opens the manufacturer’s site

Primary sources

[1] UR15 technical specification (online datasheet)Universal Robots · Updated September 2026 · accessed 9 October 2026
[2] DH parameters for calculations of kinematics and dynamicsUniversal Robots · Support article; UR5e/UR7e table · accessed 8 October 2026