When I used urdriver and MoveIt to control real UR5, the UR5 can move but can't reach to the goal pose.In the urbringup terminal ,an [WARN] occurred

[2016-12-29 22:35:28.417916] on_goal

[WARN] [WallTime: 1483022131.205065] Trajectory time exceeded and current robot state not at goal, last point required [WARN] [WallTime: 1483022131.205451] Current trajectory time: 2.78684282303, last point time: 2.779444779

Desired: [0.42070332844406366, -0.5392611878419296, 1.2213945445207879, -0.014400772983208299, -0.02953762591350824, 0.020142455794848496]

actual: [0.40468594431877136, -0.7387240568744105, 1.479959487915039, -0.6717637220965784, 0.7213889360427856, -0.06885129610170537]

velocity: [0.013294500298798084, 0.14815698564052582, -0.19076329469680786, 0.4873025715351105, -0.5491651296615601, 0.056661415845155716]

[2016-12-29 22:35:31.724464] Out: Braking

After running the ur5bringup.launch , my movegroup.launch(generated by moveitsetupassistant),and the moveitikdemo.py,The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't reach to the desired pose. The warning is "Trajectory time exceeded and current robot state not at goal, last point required". I do not know how to set trajectory time.I also don't know the reason that caused the problem.