UFactory XARM User Manual page 150

1.5.9 Speed Setting
It is used to adjust the motion speed of the live control interface of xArm.
(Note that the maximum speed of the live control interface is not the
actual maximum motion speed of the robotic arm. If you want the
program to run at high speed, you can add a speed command in the
Blockly motion program).
Joint Operating Speed
The range is 1°/s ~ 180°/s. When the robotic arm is in operation, the
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actual maximum speed will be influenced by the payload, speed, and
the pose, and the maximum speed would not be an absolutely
reachable value.
Note: the speed at which the joint runs between each command is not
If the end-effector is installed in the robotic arm, make
sure to assess whether the robotic arm will hit the
obstacles or the fixed surface of the robotic arm when
it returns to the zero pose.
The robotic arm should be back to the zero pose
before packaging.
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