MU200 - additional axis

blind3rr

Hello everyone, we are using welding cells with several MU200s additional axis, which are holding the fixture(s) and rotating it. The problem is that I can't reach faster speed than 60-70°/s. What are your steps when you have new robots with additional axis? Do you use arm_load in MOC.cfg? Do you use 'MechUnitLoad' via RAPID? Do you use TuneMaster or default parameters? I will be glad for any advice. Best regards, blinder