Robotics & Automation worked example

Collaborative Robot Speed Limit with allowable transient transfer energy of 1,200 mJ: a worked example

This scenario runs the collaborative robot speed limit calculation on the strong side: allowable transient transfer energy of 1,200 mJ, with every other input held at its documented default. Use it when running a cobot in power-and-force-limited mode and you need an indicative TCP speed limit per body region before pendant teach and validation.

The inputs for this scenario

  • Allowable transient transfer energy: 1,200 mJ (raised for this scenario; the documented default is 490)
  • Effective mass at the TCP: 4 kg (unchanged)
  • Safety margin multiplier: 0.8 x (unchanged)

Working through the calculation

  • Applying the documented formula (Indicative TCP speed ratio = allowable transient transfer energy / effective mass at the TCP (then take a square root and convert to mm/sec when reading the result)) to the inputs above produces each figure below.
  • At this operating point the engine returns 240 mm / sec for indicative tcp speed ratio (energy/mass), the number this scenario is built around.
  • At this operating point the engine returns 300 value for raw ratio.
  • At this operating point the engine returns 0.8 x for conversion factor.
  • At this operating point the engine returns 4 value for effective mass at the tcp.

How this compares with the baseline

  • Against the tool's baseline example, where allowable transient transfer energy sits at 490 mJ and the headline result is 98 mm / sec, this scenario comes in 145% above the baseline at 240 mm / sec.
  • Use it during early workcell layout to set a candidate cobot speed for a given contact scenario before you run formal force, pressure, and energy measurements. Treat this as a target state: the delta against the baseline quantifies what the improvement is worth before you commit to chasing it.

Results at a glance

  • Indicative TCP speed ratio (energy/mass): 240 mm / sec (headline result)
  • Raw ratio: 300 value
  • Conversion factor: 0.8 x
  • Effective mass at the TCP: 4 value

Run it with your numbers

  • Every input above is editable in the live Collaborative Robot Speed Limit calculator, which recalculates instantly and can be shared with the inputs intact.

Last reviewed 2026-05-12.