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giannis_letgiannis_let Posts: 9 Apprentice
Could you 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)?

Thank you in advance!

Comments

  • Etienne_SamsonEtienne_Samson Posts: 417Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    @giannis_let accelerations and velocity are commonly limited by the risk assessment of your application. The robot specs are perfectly usable, the problem is with safety requirements, if you don't want to fence the robot, you will most probably not use the max settings. What is your application?
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • giannis_letgiannis_let Posts: 9 Apprentice
    @giannis_let accelerations and velocity are commonly limited by the risk assessment of your application. The robot specs are perfectly usable, the problem is with safety requirements, if you don't want to fence the robot, you will most probably not use the max settings. What is your application?
    I am working on a Human-robot collaborative environment. As I see in ISO 15066, the constraint for max velocity of the TCP, is enough in order to ensure safety, at least for free transient contacts (figure A.4). For a joint motion, there is the option to set linear constraints (at least in Robodk simulation for a UR10 robot), meaning that max velocity and acceleration of the TCP are constrained. Does this make any sense? The reason I am asking is that, the time for the joint motion is now greater than the one of a linear as for the same points. So, what are the benefits using a joint move over a linear?

    Thank you in advance!
  • Etienne_SamsonEtienne_Samson Posts: 417Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    @giannis_let I use linear or joints move according to the application needs, not to the safety needs.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • giannis_letgiannis_let Posts: 9 Apprentice
    @giannis_let I use linear or joints move according to the application needs, not to the safety needs.
    Assuming I use joint motion according to the application needs. Traditionally, a joint move is constrained by setting angular velocity and acceleration. In Robodk, there is also the opportunity for setting linear constraints on a joint move. So, is it ok to program a joint move with linear constraints (and not the angular constraints)? Or is it counter-intuitive to the nature of a joint move?

    Thank you for your help!


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