# Increase movej speed

**URL:** <https://forum.universal-robots.com/t/increase-movej-speed/16470>\
**Category:** URScript\
**Created:** [September 14, 2021, 4:30am UTC](https://forum.universal-robots.com/t/increase-movej-speed/16470 "2021-09-14T04:30:00Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![joshuabrownenz](https://avatars.discourse-cdn.com/v4/letter/j/9de053/32.png) [@joshuabrownenz](https://forum.universal-robots.com/u/joshuabrownenz)\
**Post date:** [September 14, 2021, 4:30am UTC](https://forum.universal-robots.com/t/increase-movej-speed/16470/1 "2021-09-14T04:30:00Z")

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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.

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**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\
**Post date:** [September 17, 2021, 8:56pm UTC](https://forum.universal-robots.com/t/increase-movej-speed/16470/2 "2021-09-17T20:56:22Z")

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Hi Joshua,

You can decrease the time it takes to complete your move by increasing the acceleration. Note that we do not recommend exceeding 800 degrees/s^2 for joint moves.