UR5 Robot Arm Movement Speed Inquiry

Technical Questions
1

I’m currently using a UR5 robot arm.

  1. I’ve reviewed the robot’s limits, and it seems the maximum speed limit is set at 1500 mm/s. I know that joint rotation is measured in rad/s, but I’d like to know what the maximum speed limit is for rotation.

  2. When moving the robot arm to a position using Movel, the instantaneous rotational speed of the joints sometimes becomes excessively high, causing an error. How should the robot be operated to prevent this?

2

If you’re moving at those speeds, you have to make sure your TCP, payload, CoG and preferably inertia settings are all set up correct. And make sure you’re running the latest Polyscope (and try out Motion Version 2). That might help you with your stops.

If you’re actually using a UR5 CB2/3 (and not a UR5e), you will not be able to do much and might have to lower your speed settings.
But you can set up max rotational speed for each joint in the safety settings. That might help you.

3

Also if you are using Polyscope X the optimove functions are really helpful to avoid sudden speeds.

I agree with @efn that TCP and payload play a huge role as the payload changes the limits of motorcurrents for the safetystop.

At those speeds the application is unlikely to perform colaborative. So adding additional safety measures might be crucial any way.