Setting of unique speed restrictions in a certain TCP directions.
In many industrial applications such as welding and sanding, the robot is most dangerous as the tool is moving forward.
for this reasons the max robot speed is often calculated on the assumption that the tool is moving forward.
This currently reduces not only the speed of the robot in the dangerous direction, but in all directions.
having the ability to decrease the speed limit in the dangerous direction specifically, could help speed up the robots movement in all other directions, decreasing the total time for the robot to accomplice a task.