# Maximum velocity attainable for Velocity Control with RTDE Python interface?

**URL:** <https://forum.universal-robots.com/t/maximum-velocity-attainable-for-velocity-control-with-rtde-python-interface/36063>\
**Category:** Technical Questions\
**Created:** [September 15, 2024, 9:54pm UTC](https://forum.universal-robots.com/t/maximum-velocity-attainable-for-velocity-control-with-rtde-python-interface/36063 "2024-09-15T21:54:13Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![1996srini](https://avatars.discourse-cdn.com/v4/letter/1/4491bb/32.png) [@1996srini](https://forum.universal-robots.com/u/1996srini)\
**Post date:** [September 15, 2024, 9:54pm UTC](https://forum.universal-robots.com/t/maximum-velocity-attainable-for-velocity-control-with-rtde-python-interface/36063/1 "2024-09-15T21:54:13Z")

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Hello, I am trying to control to design a MPC controller for UR5e. I am using a kinematic model controlling the input velocity of the robot. To check and validate the response of the system against my simulation model, I gave a trapezoidal input velocity command @ 125 Hz and observed the following with different accelerations.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/7/74b2f7ad35113f424d10d6cb0cf7fea96286fbba.png)  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/6/68a1627fba969cba19663b8b00151b6f2eb81677.png)  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/bc29b224a0145f9b11dd43cde5e0a6971173141f.png)  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b13bd7a7502bfac8ef295b5c816de90bbd1fe039.png)

As I change the acceleration, the velocity achieved by the manipulator is getting capped at around 0.15 rad/s. Acceleration is not an issue as it ramps up comfortably even at 2.0 rad/s^2 till it reaches around 0.15 rad/s and then stops accelerating. What could be the reason for it? Is there any velocity limit at a particular communication frequency? The code snippet I used is given below. Is there something wrong with my code?

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/2/2da5185136b2fd32a54121807bf31471327ac38e.png)

I would appreciate your guidance and response.