It is generally advised to avoid the use of
accelerations higher than needed for a
given application. High accelerations,
especially in combination with high loads,
can lead to reduced lifetime of the robot.
Acceleration values are advised to be below
800 °/s² or below 2500 mm/s².
It is good practice to choose a reasonable
ratio between speed and acceleration
depending on the distance of the waypoints.
For applications with short cycle times and
high requirements on speed, it is generally
advised to use blends as much as possible
to ensure smooth trajectories without the
need for high accelerations.
It is recommended to use large radii when
high speed is used and good practice to
choose a reasonable ratio between speed
and acceleration depending on the distance
of the waypoints.
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