I found a solution.

For anyone else looking, in the moveit generated package **config/joint_limits.yaml** file, resides the following configurations:

```
joint_limits:
shoulder_pan_joint:
has_velocity_limits: true
max_velocity: 3.15
has_acceleration_limits: true
max_acceleration: 3.15
shoulder_lift_joint:
has_velocity_limits: true
max_velocity: 3.15
has_acceleration_limits: true
max_acceleration: 3.15
elbow_joint:
has_velocity_limits: true
max_velocity: 3.15
has_acceleration_limits: true
max_acceleration: 3.15
wrist_1_joint:
has_velocity_limits: true
max_velocity: 3.2
has_acceleration_limits: true
max_acceleration: 3.2
wrist_2_joint:
has_velocity_limits: true
max_velocity: 3.2
has_acceleration_limits: true
max_acceleration: 3.2
wrist_3_joint:
has_velocity_limits: true
max_velocity: 3.2
has_acceleration_limits: true
max_acceleration: 3.2
```

I changed all the *3.15* values to **1.00** and the *3.2* values to **1.2**.
Those figures were arbitrary. Not sure it there is a way to set better values but the UR5 is slowed down.