Our team needs some help selecting appropriate joint speeds and accelerations for our new Cobot. We have a UR10e for which we’re developing a custom C++ application using the ur_rtde API.
The application we’re developing performs joint-by-joint commanding using a SpeedJ command issued through the interface, and a SpeedStop to bring the joint to a stop. Right now, we’re using a constant velocity of 1.5 rad/s for each joint. We find that for higher rates of accelerations (0.5 rad/s^2 and higher), we encounter error C204A2: Path Sanity Check Error, which we attributed to very high acceleration rates.
We’ve tried dropping the acceleration to lower values, however, this resulted in error C271A1: Low-level real-time thread.
We’re trying to understand if there’s a way to perform smooth joint operations using the speed-based interfaces for constant speed and velocity settings for each joint. Is there documentation on how we could ensure that the selected values are appropriate for providing the robot with safe motion without triggering protective stops?
