Alternative for Speedrefresh

Larsii

Hi,

Is it possible to increase or decrease the speed at every 0.3 seconds while the robot is moving? (MoveJ between 2 points)

Speedrefresh has a lag (0,3-0,5s) between order and influence on the physical robot, I am looking for something similair but without the relative big lag.

I'm programming a IRB140 with advanced options.Some Sample code will be very helpful, thanks.