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AZalmanov
Posts: 19 Apprentice
Good Practice for acceleration and tool speed. |
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Answered | |
/ Most recent by lakshmip001
in Programming
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11 comments |

Hi all,
In the process of tweaking the program to reduce cycle time a question arose in regard to good practice for setting accelerations and tool speeds in the program. In the interest of balancing joint longevity with cycle time what are some guidelines for determining this or a good place for me to look for reference? I appreciate your time answering my questions thank you. My installation is a UR5 with Robotic 2 finger 85 gripper.
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JacobBom Posts: 11 Handy
In general, the accelerations are the ones, that has impact on joint health and longevity.
The speed is not critical, but more the way you obtain this speed.
I would recommend using accelerations at or less than:
Joint motions: 300 deg/sec^2
Linear motions: 2500 mm/sec^2
Also consider, if you have to stop a motion prematurely (e.g. included in an IF-statement, with "Check expression continuously") to use the script codes "stopj(a)" or "stopl(a)" to decellerate.
This is one aspect of it. I was leaning more towards the realm of joint health and longevity.
how can i use position_deviation_warning() script in the program. I tried to insert it in before start sequence, i get an error
type error position_deviation_warning() takes exactly 1 arguments (0 given)
did you find a way to use this as a variable value.
Using that data you would be able to get access to the log files, we do not decode that data today so not sure what you would be looking for in the message. The log files are message type 20, text message I believe. Look at the tab "3.0" for a list of all the messages that are being broadcast.
Would be interested to know if you are able to get this working.