IIRC, the ROS UR controller runs at 200Hz and we’ve had arms crash when they run much slower than that.

The website claims “30hz polling rate”, “2ms latency”. Not sure if that is a best case or just for that demo.

Crash? The software, or physically? A 200Hz as a min control loop rate seems on the fast side as a general default, but it all depends on the control environment - and I may be biased as I've done a lot more bare silicon controls than ROS.