# Maximum collaborative speed and acceleration **URL:** \ **Category:** Technical Questions\ **Created:** [August 24, 2023, 9:35am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117 "2023-08-24T09:35:20Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![giorgigedaminski](https://avatars.discourse-cdn.com/v4/letter/g/898d66/32.png) [@giorgigedaminski](https://forum.universal-robots.com/u/giorgigedaminski)\ **Post date:** [August 24, 2023, 9:35am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/1 "2023-08-24T09:35:20Z")
Hello everyone. In my current project UR10e and an operator share the working space (approximately 40 cm is shared). Can you recommend the documentation where I can find safety speed and acceleration limits in coworking space? Thanks in advance, Giorgi ---
**Author:** ![anon32693620](https://avatars.discourse-cdn.com/v4/letter/a/6a8cbe/32.png) [@anon32693620](https://forum.universal-robots.com/u/anon32693620)\ **Post date:** [August 24, 2023, 1:07pm UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/2 "2023-08-24T13:07:35Z")
I think you will want to look at creating a safety Plane for putting the Robots into Reduced mode. You should be able to find this info in the [UR User Manual](https://www.universal-robots.com/download/manuals-e-series/user/ur10e/513/user-manual-ur10e-e-series-sw-513-english-international-en/) for the UR10e on page 134 for “Safety Planes”. The limits will depend on what you set in the “Safety” section of the Installation. ---
**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\ **Post date:** [August 25, 2023, 5:12am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/3 "2023-08-25T05:12:44Z")
There’s no such thing as a general maximum allowed speed and acceleration. It depends completely on the setup and should be based on a risk analysis done by you. The most important factors being: - Are there any sharp corners on the robot tool? - Are there risks of getting squeezed between the robot and other objects? - Is the robot working in the same height as the operator’s head? Etc. You should look into reading ISO/TS 15066 (technical standard). It has in depth explanations on how to determine maximum speed and tool designs (as as important). ---
**Author:** ![MikeM](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mikem/32/3114_2.png) [@MikeM](https://forum.universal-robots.com/u/MikeM)\ **Post date:** [August 25, 2023, 5:23am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/4 "2023-08-25T05:23:19Z")
Agreeing with @efn here, adding some useful public information here: [Safety Made Easy](https://www.universal-robots.com/media/1804549/08_03_2019-ur_safety_made_easy.pdf) ---
**Author:** ![giorgigedaminski](https://avatars.discourse-cdn.com/v4/letter/g/898d66/32.png) [@giorgigedaminski](https://forum.universal-robots.com/u/giorgigedaminski)\ **Post date:** [August 25, 2023, 7:14am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/5 "2023-08-25T07:14:48Z")
Thanks a lot for your support. ---
**Author:** ![WattsUp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/wattsup/32/5732_2.png) [@WattsUp](https://forum.universal-robots.com/u/WattsUp)\ **Post date:** [August 25, 2023, 5:10pm UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/6 "2023-08-25T17:10:51Z")
official guidance gives you force limitations for transient (impact) and quasi-static (squeeze) limits. The proper way to confirm this is to use a force sensor to test your limit settings. My rule of thumb has been to set limits that i can stop it with one finger. ---
**Author:** ![giorgigedaminski](https://avatars.discourse-cdn.com/v4/letter/g/898d66/32.png) [@giorgigedaminski](https://forum.universal-robots.com/u/giorgigedaminski)\ **Post date:** [August 31, 2023, 8:30am UTC](https://forum.universal-robots.com/t/maximum-collaborative-speed-and-acceleration/30117/7 "2023-08-31T08:30:18Z")
My solution about this topic is the following: - Wrote down which body region can be touched by the robot - Checked the maximum force and pressure in ISO/TS 15066 for body parts - Took the lowest pressure and force from body parts and counted with formulas: F=ma, F=mV/t. P=F/cm^2 All of them was counted on quasi-static contact.