Robot becomes slower after a while?

pollux

Hi,

For my project where I'm using a IRB 140 to write light messages like below everything works pretty good. We only have one issue to 

solve where we get an error when a client disconnects and I close it / start new listening socket, but I posted that in another discussion.

Another issue we are facing is that it looks like the robot becomes slower and slower the more messages it has written. We're working

in online mode and I suspect that it was because we were logging quite a lot of data (using tpwrite). Could this have caused the slowdown?

p. 

pollux

Update:

We fixed this issue by resetting all axes after we draw a message. My guess is that because of rounding issues the IK became more and more difficult to calculate after a couple of messages. 

p.