# Maximum Axis Speed/Acceleration

**URL:** <https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338>\
**Category:** Technical Questions\
**Created:** [March 31, 2021, 11:32pm UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338 "2021-03-31T23:32:05Z")\
**Posts on this page:** 6\
**Page:** 1

<div class="post-metadata">

**Author:** ![daniel1](https://avatars.discourse-cdn.com/v4/letter/d/b19c9b/32.png) [@daniel1](https://forum.universal-robots.com/u/daniel1)\
**Post date:** [March 31, 2021, 11:32pm UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/1 "2021-03-31T23:32:05Z")

</div>

I am developing a URCap which generates custom motion profiles which run on the UR10e (URCap script generates a series of servoj commands to make custom robot paths).

However, right now the only feedback I have on if the robot is capable of running a profile or not is if the robot faults or the robot jerks to catch up.

Are there any documented maximum axis speeds and accelerations (jerk?) for each motor (I am currently using the UR10e specifically, but may use others at some point)? If I had those I could evaluate my motion profile in the URCap to have an idea if it will properly run without having to physically test.

---

<div class="post-metadata">

**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\
**Post date:** [April 6, 2021, 6:17pm UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/2 "2021-04-06T18:17:33Z")

</div>

We generally advise that moveJ accelerations should be less than 800deg/sec^2 and moveL accelerations \< 2500mm/sec^2. However, the jerk you are seeing might be caused by other factors. It is generally a very bad idea to drip feed individual servoj commands to the robot over the client interfaces, there is potential to starve the controller for trajectory data or send it too soon. So IF you ARE doing this then I would look for a different solution. If you are still unsure about proper use of servoj I suggest searching the forum and seeing what others have learned. Here is a good place to start : [Usage of servoj](https://forum.universal-robots.com/t/usage-of-servoj/4447)

---

<div class="post-metadata">

**Author:** ![daniel1](https://avatars.discourse-cdn.com/v4/letter/d/b19c9b/32.png) [@daniel1](https://forum.universal-robots.com/u/daniel1)\
**Post date:** [April 7, 2021, 5:34am UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/3 "2021-04-07T05:34:00Z")

</div>

That is not what I am doing.

I am generating a full profile of servoj instructions within the generateScript function of a URCap. There is not a risk of a client interface leaving the robot hanging. The URCap operates just fine for the task which required us to essentially rewrite the path interpolation functions from scratch.

The question asked is not about a show stopping issue, it is about enhancing the functionality so when clients ask us about maximum speeds and accerlations we can give them salient answers.

Returning back to my original question, is there any information about the maximum speeds/accelerations of each individual axis (I highly doubt this is uniform across all motors)?

---

<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [April 7, 2021, 6:49am UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/4 "2021-04-07T06:49:14Z")

</div>

Hi @daniel1

You have already received some recommendation by @bba. When it comes to the acceleration limit it is dependent on the payload(mass, center of gravity and inertia) and the actual joint positions. So I have compiled tables with the maximum Torque and speed for the different robot models:

### UR3e

| Joint | Max Torque | Max Speed |
| --- | --- | --- |
| Base | 56 Nm | 180°/s |
| Shoulder | 56 Nm | 180°/s |
| Elbow | 28 Nm | 180°/s |
| Wrist 1 | 12 Nm | 360°/s |
| Wrist 2 | 12 Nm | 360°/s |
| Wrist3 | 12 Nm | 360°/s |

### UR5e

| Joint | Max Torque | Max Speed |
| --- | --- | --- |
| Base | 150 Nm | 180°/s |
| Shoulder | 150 Nm | 180°/s |
| Elbow | 150 Nm | 180°/s |
| Wrist 1 | 28 Nm | 180°/s |
| Wrist 2 | 28 Nm | 180°/s |
| Wrist3 | 28 Nm | 180°/s |

### UR10e / UR16e

| Joint | Max Torque | Max Speed |
| --- | --- | --- |
| Base | 330 Nm | 120°/s |
| Shoulder | 330 Nm | 120°/s |
| Elbow | 150 Nm | 180°/s |
| Wrist 1 | 56 Nm | 180°/s |
| Wrist 2 | 56 Nm | 180°/s |
| Wrist3 | 56 Nm | 180°/s |

### UR15 / UR8 Long / UR18

| Joint | Max Torque | Max Speed |
| --- | --- | --- |
| Base | 433 Nm | 180°/s |
| Shoulder | 433 Nm | 180°/s |
| Elbow | 204 Nm | 240°/s |
| Wrist 1 | 70 Nm | 300°/s |
| Wrist 2 | 70 Nm | 300°/s |
| Wrist3 | 70 Nm | 300°/s |

### UR20 / UR30

| Joint | Max Torque | Max Speed |
| --- | --- | --- |
| Base | 738 Nm | 120°/s |
| Shoulder | 738 Nm | 120°/s |
| Elbow | 430 Nm | 150°/s |
| Wrist 1 | 107 Nm | 210°/s |
| Wrist 2 | 107 Nm | 210°/s |
| Wrist3 | 107 Nm | 210°/s |

You can do a lot of evaluation of your generated trajectory and the servoj parameters in the simulated environment. By monitoring the difference between the target pose and the actual pose.

Ebbe

---

<div class="post-metadata">

**Author:** ![daniel1](https://avatars.discourse-cdn.com/v4/letter/d/b19c9b/32.png) [@daniel1](https://forum.universal-robots.com/u/daniel1)\
**Post date:** [April 7, 2021, 10:40am UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/5 "2021-04-07T10:40:23Z")

</div>

Thanks Ebbe!

This is very helpful!

---

<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [April 9, 2021, 10:40am UTC](https://forum.universal-robots.com/t/maximum-axis-speed-acceleration/13338/6 "2021-04-09T10:40:57Z")

</div>

This topic was automatically closed 2 days after the last reply. New replies are no longer allowed.