# Protective Stop: Odd velocities to reach the received target

**URL:** <https://forum.universal-robots.com/t/protective-stop-odd-velocities-to-reach-the-received-target/37156>\
**Category:** Technical Questions\
**Created:** [November 25, 2024, 8:40pm UTC](https://forum.universal-robots.com/t/protective-stop-odd-velocities-to-reach-the-received-target/37156 "2024-11-25T20:40:36Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![pclay](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pclay/32/6313_2.png) [@pclay](https://forum.universal-robots.com/u/pclay)\
**Post date:** [November 25, 2024, 8:40pm UTC](https://forum.universal-robots.com/t/protective-stop-odd-velocities-to-reach-the-received-target/37156/1 "2024-11-25T20:40:36Z")

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When using the ROS `ur_robot_driver` to send a trajectory to the UR controller, I am seeing a protective stop. The trajectory does not appear to have issues when sending it to the Controller.

In the UR log dump (log\_history.txt) I am seeing this

```auto
3.5 :: 0357d05h29m00.426s :: 2024-11-25 14:49:43.888 :: -3 :: C0A0:0 :: null :: 1 :: ExternalControl: Starting servo thread :: :: null
3.5 :: 0357d05h29m05.610s :: 2024-11-25 14:49:49.110 :: -3 :: C0A0:0 :: null :: 1 :: Velocity 34.9055 required to reach the received target [1.925485, -1.61353, 2.27154, -2.213479, -1.574528, -0.689682] within 0.002 seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received. :: :: null
3.5 :: 0357d05h29m05.621s :: 2024-11-25 14:49:49.110 :: -3 :: C218A1:6 :: null :: 2 :: :: :: servoThread
3.5 :: 0357d05h29m05.668s :: 2024-11-25 14:49:49.114 :: -3 :: C0A0:0 :: null :: 1 :: Received valid command. Resuming execution. :: :: null
3.5 :: 0357d05h29m05.670s :: 2024-11-25 14:49:49.114 :: -3 :: C0A0:0 :: null :: 1 :: Velocity 32.6295 required to reach the received target [1.975461, -1.619714, 2.277178, -2.213392, -1.573958, -0.555559] within 0.002 seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received. :: :: null
3.5 :: 0357d05h29m05.671s :: 2024-11-25 14:49:49.214 :: -3 :: C174A0:6 :: null :: 2 :: :: :: 0
3.5 :: 0357d05h29m05.733s :: 2024-11-25 14:49:49.215 :: -3 :: C0A0:0 :: null :: 1 :: Received valid command. Resuming execution. :: :: null
3.5 :: 0357d05h29m05.734s :: 2024-11-25 14:49:49.215 :: -3 :: C0A0:0 :: null :: 1 :: Velocity 58.508 required to reach the received target [2.032149, -1.623688, 2.280716, -2.21347, -1.573464, -0.406039] within 0.002 seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received. :: :: null
3.5 :: 0357d05h29m05.834s :: 2024-11-25 14:49:49.309 :: -3 :: C0A0:0 :: null :: 1 :: Received valid command. Resuming execution. :: :: null
3.5 :: 0357d05h29m05.836s :: 2024-11-25 14:49:49.316 :: -3 :: C0A0:0 :: null :: 1 :: Velocity 105.5475 required to reach the received target [2.130196, -1.623435, 2.280103, -2.213442, -1.572197, -0.151495] within 0.002 seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received. :: :: null
3.5 :: 0357d05h29m05.837s :: 2024-11-25 14:49:49.316 :: -3 :: C174A1:6 :: null :: 2 :: :: :: 0
3.5 :: 0357d05h29m05.837s :: 2024-11-25 14:49:49.317 :: -3 :: C174A2:6 :: null :: 2 :: :: :: 0
3.5 :: 0357d05h29m06.290s :: 2024-11-25 14:49:49.811 :: -3 :: C0A0:0 :: null :: 1 :: Velocity 1820893326103423.25 required to reach the received target [-3641786652204.927734, -1140532155447.430664, 1166022624219.684814, 10909127314.458231, -64363636502.848495, -9701334695426.744141] within 0.002 seconds is exceeding the joint velocity li :: :: null
3.5 :: 0357d05h29m06.436s :: 2024-11-25 14:49:49.913 :: -3 :: C271A1:6 :: null :: 130 :: :: :: 0

```

The extremely large values for the velocities required seem to be causing some issues. I’m looking for some help in troubleshooting why the UR is reporting this. Also for why this message is appearing at all.

Thanks!

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<div class="post-metadata">

**Author:** ![wang\_911205](https://avatars.discourse-cdn.com/v4/letter/w/a183cd/32.png) [@wang\_911205](https://forum.universal-robots.com/u/wang_911205)\
**Post date:** [February 14, 2025, 1:05am UTC](https://forum.universal-robots.com/t/protective-stop-odd-velocities-to-reach-the-received-target/37156/2 "2025-02-14T01:05:12Z")

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I also get the problem: Velocity 54.112 required to reach the received target [-3641786652204.927734, -1140532155447.430664, 1166022624219.684814, 10909127314.458231, -64363636502.848495, -9701334695426.744141] within 0.002 seconds is exceeding the joint velocity limits