Hello,

I've got a question that I am hoping is obvious, but I have not been able to find an answer. I am performing a fairly basic compound movement with a UR5e robot (Rotating Wrist 2 +/-60 deg, moving in the x direction 0.04 m, and rotating about Z by +/- 50 deg). At slow speeds, I can make this work without issue using movej and movep commands. However, my application requires working at the top speed (180 deg/sec).

Using the t parameter in movej, I can get it to reach about 80 deg/sec. (It moves the full distance of 120 deg from +60 to -60 in 1.5 seconds). I can't get it to move any faster than that.  

Using the movep commands, I can get the arm to move faster, but I constantly hit safety limit errors before getting close the desired speed. If I increase the blending radius, it errors and says the robot cannot maintain its speed when changing directions.

So my question is this: What is the best method to implement back and forth compound movements at top speed? Am I missing the need to add some extra waypoints, or something like that?

Thank you in advance!

Probably a bit late to mention this but beware of damaging joints running them to the extremes. If you're near top speed it's probably not a good cobot application.