Robot TCP position delays with rotary external axis

liaoifan

Hello, 

  The robot I used is IRB1200 with a rotary table installed ABB motor unit MU100 as external axis 7.
I wrote a simple path to demonstrate the robot and external axis coordinated motion.  I found that there is always a position delay(about 1mm),
the pinpoint installed on the rotary table is always faster than the robot TCP. How can I fix the TCP delay problem? 
Thanks!

PS: I've checked it's not because of the backlash of rotary table.

Video: https://www.youtube.com/watch?v=t9z-iZ1XYu4&feature=youtu.be
Rapid: https://drive.google.com/file/d/0B5ofVE_Yba-5VngtU0psNU9KU00/view?usp=sharing
System Parameters: https://drive.google.com/open?id=0B5ofVE_Yba-5OHBhU1NCTW5kY3M
RobotWare version: 6.05.00.00
Options: RobotWare Base, 709-1 DeviceNet Master/Slave, 687-1 Advanced Robot Motion, 603-1 Absolute Accuracy, 610-1 Independent Axis, 616-1  PC Interface, 661-2 Force Control Base