Setting Speed for Program run.
When highlighting Waypoints in the Program block then the “Command” tab also have a function called “Show advanced options” try and tick that option.
This is used to define how fast the robot should move. Each Waypoint can be defined for how fast the robot should reach there from previous Waypoint.
This setting can be defined as pure time as a formula of the joint speed and acceleration.
Be aware of that if the speed is set low in relation to how far the two Waypoints are from each other then the robot might try to speed up and run too fast which will cause a Security stop to be activated.
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By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.