I have one problem on KRC 2 with the L150 extention. I would like to save some cycle time. The robot picks some object in 2 diferent ways(one time rotating only axis 6 while moving to drop position) and one time without rotating axis 6. If robot rotates the object 180 degrees(axis 6) the robot is almost 3 seconds slower if not rotating the object. the diference is only the ptp where it rotates , everything else is at maximum(speeds, accel).
Would it be maybe better if i split rotating 180 PTP to two 90 degrees PTP motions or i increase the $VEL_AXIS_MA in the machine.dat cause it is really annoying that axis 6 slows down the robot so much.