# V\_Ori issue

**URL:** <https://tech-community.robotics.abb.com/t/v-ori-issue/5227>\
**Category:** Robot Controller\
**Created:** [November 21, 2012, 3:47pm UTC](https://tech-community.robotics.abb.com/t/v-ori-issue/5227 "2012-11-21T15:47:38Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![shahaboid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/shahaboid/32/3296_2.png) [@shahaboid](https://tech-community.robotics.abb.com/u/shahaboid)\
**Post date:** [November 21, 2012, 3:47pm UTC](https://tech-community.robotics.abb.com/t/v-ori-issue/5227/1 "2012-11-21T15:47:38Z")

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Hi,

I am having problem with increasing the orientation velocity (V\_Ori) during a move. I want to do a sudden orientation change at the end of one path and continue the new path, but this happens too slow … it means no matter how big my v\_ori number is, the robot moves slow … I even tried to increase both v\_tcp and v\_ori together to see if there is a relation between them, but still nothing interesting …

My VelSet is set as following:

VelSet 100,200;

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**Author:** ![Steve\_Murphy](https://avatars.discourse-cdn.com/v4/letter/s/0ea827/32.png) [@Steve\_Murphy](https://tech-community.robotics.abb.com/u/Steve_Murphy)\
**Post date:** [November 22, 2012, 12:46pm UTC](https://tech-community.robotics.abb.com/t/v-ori-issue/5227/2 "2012-11-22T12:46:13Z")

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Hello,

Basically one has to see if the robot is becoming limited by acceleration or if it is the settings.  
The question is what is your programmed velocity settings in the MoveL? VelSet is just an override for the basic speed settings.

If you look at the motion and it looks like: fast linea motion – slow reorientation – fast linear motion, then the problem is not in the settings, but in the simple fact that it takes time to accelerate and re-orient the wrist axes. If you can start the re-orientation earlier, or adjust the AccSet, you may be able to get it to move through the zone faster.

If the linear motion is by itself slow, then it is a speed setting, try using vmax on the motions.

Steve