Joint Speed /
Acceleration
You can modify the speed and acceleration of joints for each waypoint in a Move
command.
Modify joint
speed or
acceleration
1. Select the waypoint you wish to modify
2. On the right side of the screen, set the joint speed or acceleration by selecting
3. Add the value for speed
4. Add the value for acceleration
Use case If you create a palletizing program, then you can make the waypoint move more slowly
as the program places the objects, and move faster when moving to pick up another
object.
Time You can change the amount of time that it takes to reach this waypoint.
The maximum is 21.600 seconds/6 hour.
Add time in
seconds
1. Select the waypoint you wish to modify
2.
On the right side of the screen, select
3. Add a number in [s]
4. Tap Submit to save the number
It now takes [s] to move the robot arm to this waypoint.
Add Until Add Until will give you a number of different options for configuring your waypoint.
User Manual 203 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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