Universal Robots · Collaborative robot · Commercial product

UR3e

UR3e is the smallest six-axis collaborative arm in Universal Robots' e-Series, with a 3 kg maximum payload and a 500 mm reach.

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

UR3e

Maximum payload: 3 kg
Reach: 500 mm
Degrees of freedom: 6 rotating joints
Pose repeatability: ±0.03 mm (ISO 9283)

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Key specifications

Every value sourced

Maximum payload: 3 kg [1]
Reach: 500 mm [1]
Degrees of freedom: 6 rotating joints [1]
Pose repeatability: ±0.03 mm (ISO 9283) [1]
Maximum TCP speed: 3 m/s [1]
Maximum power consumption: 300 W [1]
Ingress protection: IP54 [1]
Ambient operating temperature: 0–50 °C [1]
Robot arm weight (including cable): 11.2 kg [1]

Full specifications

45 fields

Performance

Maximum payload What is this?	3 kg [1]
Reach What is this?	500 mm [1]
Degrees of freedom What is this?	6 rotating joints [1]
Pose repeatability What is this?	±0.03 mm (ISO 9283) [1]

Motion

Maximum TCP speed What is this?	3 m/s [1]
Joint working ranges What is this?	±360° on base, shoulder, elbow and wrists 1–2; wrist 3 infinite [1]
Maximum joint speeds	±180°/s (base, shoulder, elbow); ±360°/s (wrists) [1]

Force and torque sensing

Force range, x-y-z	±30.0 N [1]
Force precision	±2.0 N [1]
Force accuracy	±3.5 N [1]
Torque range, x-y-z	±10.0 Nm [1]
Torque precision	±0.1 Nm [1]
Torque accuracy	±0.1 Nm [1]

Safety

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

Power

Maximum power consumption	300 W [1]

Environment

Ingress protection	IP54 [1]
Ambient operating temperature	0–50 °C [1]
Humidity	≤90% RH, non-condensing [1]
Noise	< 60 dB(A) [1]

Physical

Robot arm weight (including cable)	11.2 kg [1]
Footprint	Ø128 mm [1]
Mounting	Any orientation [1]
Materials	Aluminium, plastic, steel [1]
Robot arm cable length	6 m [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; 600 mA [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	1.6 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°	±180°/s	[1]
Wrist 1	±360°	±360°/s	[1]
Wrist 2	±360°	±360°/s	[1]
Wrist 3	Infinite	±360°/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]

UR3e 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	0.15185	π/2	1.98	[0, −0.02, 0]
2	−0.24355	0	0	3.4445	[0.13, 0, 0.1157]
3	−0.2132	0	0	1.437	[0.05, 0, 0.0238]
4	0	0.13105	π/2	0.871	[0, 0, 0.01]
5	0	0.08535	−π/2	0.805	[0, 0, 0.01]
6	0	0.0921	0	0.261	[0, 0, −0.02]

Universal Robots publishes this table as “UR3e”.
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

UR3e is the smallest arm in Universal Robots' e-Series, with a 3 kg payload, a 500 mm reach and a Ø128 mm footprint. The September 2026 datasheet rates its three wrist joints at ±360°/s, twice the speed of the base, shoulder and elbow, and lists wrist 3 with infinite rotation.

Its tool flange supplies 600 mA, against 1.5–2 A on the larger e-Series arms, so check the power draw of electric grippers and sensors before specifying tooling.

What the datasheet cannot answer

The published figures describe the arm under Universal Robots' conditions. Cycle time, reliability and the safe speed of a finished cell depend on the tool, the task and the risk assessment. RoboMag has not physically tested UR3e.

Maintenance resources

Robot Garage

Universal Robots' e-Series service handbook covers UR3e alongside the other e-Series arms: inspection, part replacement, software, troubleshooting and spare parts. RoboMag summarises the published inspection intervals below; it does not reproduce service procedures. Isolate the robot safely and follow the manufacturer's handbook for any work.

Recommended robot-arm inspections published by Universal Robots for the e-Series (V = visual, F = functional). Items marked * must also be checked after a heavy collision. [4]
Interval	Published inspection items
Monthly	Robot arm mounting bolts * (F); tool mounting bolts * (F)
Every six months	Blue lids * (V); blue lid screws (F); flat rings (V); robot cable (V); robot cable connection (V); screws and bolts on joints * (F)

Comparisons

Build your own comparison

No permanent comparison has been published for UR3e 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] UR3e 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
[3] Service Handbook, e-SeriesUniversal Robots · PolyScope 5.26 / PolyScope X 10.12 · accessed 8 October 2026
[4] Inspection plan, e-Series service manualUniversal Robots · SW 5.26 edition · accessed 8 October 2026