IRB 6400 M2000:Softness movements

Hi Dragos, Can you explain by softness. Do you mean zone/speed?

Do you mean soft servo?

If smooth transition between moves is your problem, then take a look at this.
It will give you nice smooth moves. I use these fly-by-zones myself, and
it looks quite nice, and very good for speeding things up a bit.
Works well with long distance fluid movements.

PERS zonedata zLargeFlyBy:= [ FALSE, 1000, 1000, 1000, 2000, 1000, 500 ];
PERS zonedata zSmallFlyBy:= [ FALSE, 50, 1000, 1000, 500, 1000, 50 ];

Example:
MoveJ roStartpos,v1000,fine,toMyTool;
MoveJ roMidpos1,v1000,zLargeFlyBy,toMyTool;
MoveJ roMidpos2,v1000,zLargeFlyBy,toMyTool;
MoveJ roEndpos,v1000,fine,toMyTool;