IRB4600 path starts to wabble when the robot is at an extend-out position

stephen127

Hello, we have two IRB4600 robots in house. We noticed that the robot arms start to wabble a little bit when it is at an extend-out position. Even though we program it using MoveL, the path is no longer a straight line because this wabbling issue. The final path looks like a small-scale zig-zag path when this happens. I think it might be some robot axis configuration problem when it approaches to such an extend-out position. Is there any option I should add to the MoveL to make the path more smoothly and back to a straight line? Thanks.