Universal Robots joints values

giannis_let

In the manual of the UR10 robot, it mentions the max value for the velocity (linear or for each joint). However, I could not find the range of acceleration for each joint (max values), or for the TCP. Could you help me?

Thank you,
Giannis Let

David_Gariepy

Hi @giannis_let,

Based on the polyscope interface


Joint acceleration is limited to 2292°/s  but I can't find it for each individual joint.


Tool acceleration is limited to 150 000mm/s


But i know it is not recommended to use these value, @JacobBom could you please share with us the maximum recommended acceleration? 

JacobBom

My general recommendation is to use these or lower acceleration settings: 
Joint motions: 300 deg/sec^2
Linear motions: 2500 mm/sec^2

In general, the acceleration has a high impact on joint health and longevity. 
Speed is not too critical for this. But especially hard stops (negative acceleration) should generally be avoided where possible. 
E.g. consider using "stopj(a)" or "stopl(a)" to decellerate from a prematurely stopped IF-statement or similar, i.e. if using the "Check expression continuously" option.

giannis_let

Thank you for your quick responses!

Could you also recommend the max value of velocity for the UR10? Are the values 1000mm/s for the linear motion, and 2.09 rad/s for the 'slowest' joint, that mentioned in the manual, applicable in a real case study? In practice, which is the range of these values that most industries use (for the UR10 robot)?