Hey everyone, I would really like your help!
I want to integrate UR20 into a linear rail.
In order to do so, i need to define requirements,
including the maximum velocity and acceleration of the rail for which the arm will be able to move at without receive a protective stop.
I couldn’t find those limitation in the UR20 manual and would really appreciate your help.
Thank you!
Shira
Do you plan on having the robot arm move simultaneously with the linear rail?
Everything will be very dependant on your application. How much payload and the inertia of that payload will have a big impact on the limits of the acceleration of the linear rail.
However, if you do not plan to have them move simultaneously, then it will take quite a lot of movement to get the robot to go into a protective stop. So if you can move them individually, I wouldn’t be too worried. 
Thanks for the replay!
the arm itself won’t move throughout the linear movement, it’ll start moving only when arriving to a specific location (while moving on the rail, it won’t be holding any payload, and will we folded in order decrease chances of tipping)
I fear that it’ll move too fast so it’ll do into protective mode and i haven’t seen any limitation in the manual, so i was hoping to find some limitations
I don’t think you will find any documentation on it, since it is very dependent on the application as mentioned.
But really. It’ll take a lot for the robot to go into protective stop when it’s not moving. Maybe you can find a linear rail that’s adjustable?
as long as you can control the accel/decel values on the rail, you won’t need to do anything on the robot.
Hi Shira,
Check this article:
Universal Robots - Set Base Acceleration and High Holding Torque Disable/Enable
I hope it helps you!
Regards,
Roberto A.