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AZalmanovAZalmanov Posts: 15 Apprentice
edited July 19 in Programming

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.

Best Answer


  • matthewd92matthewd92 Posts: 508Founding Pro, Tactile Sensor Beta Testers Handy
    One of our recommendations practices is to use the position_deviation_warning() method to know when you are pushing any particular move to hard. We use a threshold of 0.8. This has definitely helped make our programs more robust and limit protective stops
  • AZalmanovAZalmanov Posts: 15 Apprentice

    This is one aspect of it. I was leaning more towards the realm of joint health and longevity.

  • Alan_JordanAlan_Jordan Posts: 1 Recruit
    If you are running the robot at speed for prolonged periods, tick the BLEND WITH RADIUS button for most waypoints. This allows the robot arm to move smoothly between waypoints and prevents jerking. Don't use this feature for the first & last waypoints. 
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