# MoveL: Tool Angular Speed
**URL:** https://forum.universal-robots.com/t/movel-tool-angular-speed/15912
**Category:** Technical Questions
**Created:** [August 11, 2021, 9:13am UTC](https://forum.universal-robots.com/t/movel-tool-angular-speed/15912 "2021-08-11T09:13:16Z")
**Posts on this page:** 4
**Page:** 1
### Author:  [@mohamedghita](https://forum.universal-robots.com/u/mohamedghita)
#### Post date: [August 11, 2021, 9:13am UTC](https://forum.universal-robots.com/t/movel-tool-angular-speed/15912/1 "2021-08-11T09:13:16Z")
What is the tool angular speed of moveL function?
If the robot were to move from waypoints wp\_1 to wp\_2 where wp\_2 is only tilted from wp\_1. for example:
wp\_1 = p[0.1, 0.1, 0.1, 0.0, 1.0, 0.0]
wp\_2 = p[0.1, 0.1, 0.1, 0.0, 2.0, 0.0]
What’s the robot tool speed in rad/s and acceleration in rad/s/s, or at least the time of motion?
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### Author:  [@pho](https://forum.universal-robots.com/u/pho)
#### Post date: [September 21, 2021, 4:26pm UTC](https://forum.universal-robots.com/t/movel-tool-angular-speed/15912/2 "2021-09-21T16:26:28Z")
The speed is defined in the move command movej, movel, etc.
During the move the speed can be monitored using the get\_actual\_joint\_speeds()
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### Author:  [@mohamedghita](https://forum.universal-robots.com/u/mohamedghita)
#### Post date: [January 24, 2022, 1:02pm UTC](https://forum.universal-robots.com/t/movel-tool-angular-speed/15912/3 "2022-01-24T13:02:30Z")
Hi @pho,
in movel command, the speed and acceleration parameters are defined in m/s and m/s/s.
My questions is about the angular speed and acceleration in rad/s and rad/s/s.
If you read my original question, it’s in regard a movel command where the robot head only rotates around the TCP without any translation.
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### Author:  [@anemera](https://forum.universal-robots.com/u/anemera)
#### Post date: [September 17, 2024, 7:54pm UTC](https://forum.universal-robots.com/t/movel-tool-angular-speed/15912/4 "2024-09-17T19:54:48Z")
For those who is still interesting to this topic.
MoveL() command in script works the following way:
1. Linear velocity and linear acceleration are taken from parameters as is in m/s and m/s^2 accordingly.
2. Angular velocity is derived from linear velocity: AngVel = 4 \* LinVel, units are radians/sec. (example: LinVel = 0.1m/s, therefore AngVel = )
3. Angular acceleration is devived from linear acceleration similar way: AngAcc = 4 \* LinAcc, units are radians/sec^2.
4. Motion profile (velocity vs. time) is calculated separately for linear and angular set of coordinates: Linear distance = sqrt( (x-x0)^2 + (y-y0)^2 + (z-z0)^2 ). Angular distance = sqrt( (Rx-Rx0)^2 + (Ry-Ry0)^2 + (Rz-Rz0)^2 ). Then trapezoidal profile is fitted for travel distance and calculated needed motion time.
5. Whatever time is the largest - that motion profile will be used for actual motion. The other profile will be slowed down accordingly.