Question Regarding IRB 1100 for 3D Printing Application

h0ya

I am currently using an IRB 1100 robot for 3D printing purposes. I am moving the robot in a square wave pattern, with each side measuring 0.6mm. Currently, I am using the following code: "MoveL jobQueue.target, printingPRM.v, fine, tool0;". When using "zonedata fine", the resulting shape is accurate, but the movement speed is too slow. However, if I use "zonedata z0", the robot does not move in precise right angles, resulting in rounded corners, which is problematic for my application.

In my current situation, I need both speed and accuracy. Could you suggest a solution to achieve faster movement while maintaining sharp, precise right angles?