A couple of questions with the recent RobotWare 6

Got a new robot recently and it came with RW6. I was initially really excited about it but it ran into some issues, which I'm unsure exactly where the fault lies. Anyway, does anyone have proper documentation or experience with the new "Responsive Jogging" feature? We believe it is causing some errors whereby the TCP does not stay in the same spot when jogging the robot in reorient mode either in the world frame or tool frame (at least 10 times more severe errors in this frame). The repeatability is almost non-existent and the TCP just drifts away indefinitely if you continue jogging it. In case you are wondering, I'm pretty sure the TCP location is defined correctly. http://i.imgur.com/N4wgp9C.jpg                                                                                                 Wrote a simple program (using reltool Rx,Ry,Rz) to see whether this happens in program execution and indeed it does. However it is all running in the world/base frame. How can I program it such that it is in effect the same as selecting toolframe-reorient in the flexpendant? http://i.imgur.com/hfT7oJK.jpg [img]http://i.imgur.com/hfT7oJK.jpg[/img]                                                                                                 On the other hand, do you guys think AbsAcc would have any help in this situation? If you can, please elaborate on the working principles of the AbsAcc package.                                                                                                                                                                                                Also, A 2-axis turntable came with the robot and I tried to do coordinated motion on it. But the robot is not following the turntable motion correctly. Where can I check the controller's record of where the turntable is physically with respect to the robot base? What is the correct way of setting up coordinated motion? Thank you.