diff --git a/core/include/moveit/task_constructor/solvers/cartesian_path.h b/core/include/moveit/task_constructor/solvers/cartesian_path.h
index 72e63fe3a..9f3fdb888 100644
--- a/core/include/moveit/task_constructor/solvers/cartesian_path.h
+++ b/core/include/moveit/task_constructor/solvers/cartesian_path.h
@@ -59,6 +59,11 @@ class CartesianPath : public PlannerInterface
 	void setMaxVelocityScaling(double factor) { setProperty("max_velocity_scaling_factor", factor); }
 	void setMaxAccelerationScaling(double factor) { setProperty("max_acceleration_scaling_factor", factor); }
 
+	void setMaxCartesianSpeed(double max) { setProperty("max_cartesian_speed", max); }
+	void setCartesianSpeedLimitedLink(std::string limited_link) {
+		setProperty("cartesian_speed_limited_link", limited_link);
+	}
+
 	void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
 	bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
index 2188a45db..591a0470e 100644
--- a/core/src/solvers/cartesian_path.cpp
+++ b/core/src/solvers/cartesian_path.cpp
@@ -39,6 +39,7 @@
 #include <moveit/task_constructor/solvers/cartesian_path.h>
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/trajectory_processing/iterative_time_parameterization.h>
+#include <moveit/trajectory_processing/cartesian_speed.h>
 #if MOVEIT_MASTER
 #include <moveit/robot_state/cartesian_interpolator.h>
 #endif
@@ -105,9 +106,22 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
 		for (const auto& waypoint : trajectory)
 			result->addSuffixWayPoint(waypoint, 0.0);
 
-		trajectory_processing::IterativeParabolicTimeParameterization timing;
-		timing.computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
-		                         props.get<double>("max_acceleration_scaling_factor"));
+		// optionally compute timing to move the eef with constant speed
+		if (props.get<double>("max_cartesian_speed") > 0.0) {
+			if (trajectory_processing::limitMaxCartesianLinkSpeed(
+			        *result, props.get<double>("max_cartesian_speed"),
+			        props.get<std::string>("cartesian_speed_limited_link"))) {
+				ROS_INFO_STREAM("successfully set max " << props.get<double>("max_cartesian_speed") << " [m/s] for link "
+				                                        << props.get<std::string>("cartesian_speed_limited_link"));
+			} else {
+				ROS_ERROR_STREAM("failed to set max speed for link_ "
+				                 << props.get<std::string>("cartesian_speed_limited_link"));
+			}
+		} else {
+			trajectory_processing::IterativeParabolicTimeParameterization timing;
+			timing.computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
+			                         props.get<double>("max_acceleration_scaling_factor"));
+		}
 	}
 
 	return achieved_fraction >= props.get<double>("min_fraction");
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
index 7f0b25b46..89bc290c3 100644
--- a/core/src/solvers/pipeline_planner.cpp
+++ b/core/src/solvers/pipeline_planner.cpp
@@ -149,6 +149,8 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, const PropertyMa
 	req.num_planning_attempts = p.get<uint>("num_planning_attempts");
 	req.max_velocity_scaling_factor = p.get<double>("max_velocity_scaling_factor");
 	req.max_acceleration_scaling_factor = p.get<double>("max_acceleration_scaling_factor");
+	req.cartesian_speed_limited_link = p.get<std::string>("cartesian_speed_limited_link");
+	req.max_cartesian_speed = p.get<double>("max_cartesian_speed");
 	req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
 }
 
diff --git a/core/src/solvers/planner_interface.cpp b/core/src/solvers/planner_interface.cpp
index 23e314733..ea568b552 100644
--- a/core/src/solvers/planner_interface.cpp
+++ b/core/src/solvers/planner_interface.cpp
@@ -46,6 +46,8 @@ PlannerInterface::PlannerInterface() {
 	auto& p = properties();
 	p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
 	p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
+	p.declare<double>("max_cartesian_speed", 0.0, "maximum cartesian speed");
+	p.declare<std::string>("cartesian_speed_limited_link", "", "link with limited cartesian speed");
 }
 }  // namespace solvers
 }  // namespace task_constructor