Hi all,
I am using URScript commands to control a UR10e. One movement I have to make is a very large 180+ degree turn around the base, I am currently telling it to do said move with a movej command, currently I am using an acceleration of 5 rad/s^2 and a speed of 5 rad/s (which I know is above the maximum 3.14 rad/s speed). I can increase the speed of it by using a time command however that leads to jerky movements, It is in the least restricted safety mode possible.
How can i increase the speed of this movement? I believe it is all to do with the rotation of the base axis.