# 机械臂运行的参数限定问题，是否需要二次开发者设定边界

**URL:** <https://forum.universal-robots.com/t/topic/22976>\
**Category:** 二次开发\
**Created:** [July 29, 2022, 2:48am UTC](https://forum.universal-robots.com/t/topic/22976 "2022-07-29T02:48:16Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![funing.hu](https://avatars.discourse-cdn.com/v4/letter/f/9de053/32.png) [@funing.hu](https://forum.universal-robots.com/u/funing.hu)\
**Post date:** [July 29, 2022, 2:48am UTC](https://forum.universal-robots.com/t/topic/22976/1 "2022-07-29T02:48:16Z")

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At present, when the robot arm is running, are there any parameters that are restricted? For example, the running acceleration cannot exceed 3 times the speed, so when we do sdk secondary development, do some parameters need to be set to the boundary? What parameters need to be ranged?

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**Author:** ![funing.hu](https://avatars.discourse-cdn.com/v4/letter/f/9de053/32.png) [@funing.hu](https://forum.universal-robots.com/u/funing.hu)\
**Post date:** [July 29, 2022, 2:57am UTC](https://forum.universal-robots.com/t/topic/22976/2 "2022-07-29T02:57:19Z")

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速度和加速度没有3倍限制，如下图。

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b34152ffdd5136ec45b93777953a1634a13bcd2d.png)  
二次开发的时候，看自己项目需要设定，也可以参考polyscope上的Installation-\>Safety-\>Robot Limits设置  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/9a0ecdba3a54ea3a751c3878617904aee0f6f055.png)