# Ur5e PID gainHow to adjust PID gains and acceleration in ROS2 with UR5e joint\_trajectory\_controller

**URL:** <https://forum.universal-robots.com/t/ur5e-pid-gainhow-to-adjust-pid-gains-and-acceleration-in-ros2-with-ur5e-joint-trajectory-controller/41537>\
**Category:** Technical Questions\
**Created:** [October 20, 2025, 7:21am UTC](https://forum.universal-robots.com/t/ur5e-pid-gainhow-to-adjust-pid-gains-and-acceleration-in-ros2-with-ur5e-joint-trajectory-controller/41537 "2025-10-20T07:21:10Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![hoe8279](https://avatars.discourse-cdn.com/v4/letter/h/df788c/32.png) [@hoe8279](https://forum.universal-robots.com/u/hoe8279)\
**Post date:** [October 20, 2025, 7:21am UTC](https://forum.universal-robots.com/t/ur5e-pid-gainhow-to-adjust-pid-gains-and-acceleration-in-ros2-with-ur5e-joint-trajectory-controller/41537/1 "2025-10-20T07:21:10Z")

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Hello,  
I’m currently operating a **UR5e** robot using **ROS2**.  
To explain my current setup: I’m using the **joint\_trajectory\_controller** provided in Universal Robots’ official ROS2 driver repository:  
👉 [https://github.com/UniversalRobots/Universal\_Robots\_ROS2\_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)

In the **ROS1 version** , I found that certain controllers used **PID gains** , as shown here:  
👉 [https://github.com/UniversalRobots/Universal\_Robots\_ROS\_Driver/blob/master/ur\_robot\_driver/config/ur5e\_controllers.yaml#L64](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/config/ur5e_controllers.yaml#L64)

I’d like to know if there’s a similar way to modify and use **PID gains** in the **ROS2 joint\_trajectory\_controller** that I’m currently using.  
Additionally, is there a way to **reduce the acceleration** either via the **teaching pendant** or the **UR controller**?

Thank you very much for your help.