F/T sensor-ABB robot communication over TCP/IP

Paramin

Hello all,

I have established a communication between an IRB 140 and ATI F/T sensor over TCP/IP. Then I want to update a new position that I want to move in a smallest constant time period.

Could anyone please tell me:
- What is the smallest time period that the robot can update ?
- What are the mallest delta x, delta y and delta z that the IRB 140 can move ?

I would be greately appreciated if you can also provide me documents.

Thank you in advance.

Jazz