Slow joint speed whilst running program - UR5

thomasmorris

I have set the joint speed within the program to 90deg/s with a high value for join acceleration. When the program is run the joints move visibly slower than the set value (especially Wrist 2). What might be the cause of this?
Thanks

matthewd92

The joints will coordinate motion with the joint that has the furthest to rotate turning at your commanded speed. The rest of them will move slower so they all reach their final destination at the same time.

if one joint needs to move 90 degrees and the rest only 10 then the other 5 would move at 10 degrees per second as the joint with the longest rotation needs 1 second to complete it. 

thomasmorris

Thanks for your reply Matthew,
I have altered the program so that large joint rotation occur in their own child waypoint yet when I run the program these steps still only seems to run at 6% (see image below).
I have increased the joint speed and acceleration in the installation tab but neither of these seem to be resulting in visible changes.
Thanks.

thomasmorris

All sorted now!

matthewd92

What did you find to be the issue?

thomasmorris

The rental robot we received was set up to have the 'most restricted' movement/speed limitations allowing a maximum of 250mm/s. Changing this to the least restrictions allowed us to update it to the desired speed/acceleration.