I am working with a Universal Robots UR5e. I am attempting to do a simple back and forth movement of 60 Degrees with Wrist 2, operating at 2 Hz (back and forth in 0.5s). Looking at the Joint Limits, the maximum Joint Speed is listed at 191 deg/sec, which should be plenty fast for this. However, I can't seem to get it to move faster than about 1 Hz. Even if I set the Robot Limits to Least Restricted, I max out at this speed. 

I am using a movej command and setting t=0.100 to get the max speed. If I set it to t=0.250 I will still see the movement take over a second to go back and forth. 

Does anyoneone have any suggestions for how to speed up the movement?

Thanks!