I have 6 positions I'm working with. POS1-3 (drops down to pick a part) and A_POS1-3 (for above position). My issue is moving from one A_POS to the next A_POS, along A3 to the tool it looks as if the arm is shaking or jittery since I added C_PTP if the velocity is over 70%. This was not the case before, however, since adding it the transition from say, A_POS2 to POS2 after the jitter happens, is rounded and smooth and all three from their above positions to the drop offs are as well. Is there another method I should try to smooth this out or is the increase in velocity too much for the movements over a short distance?
X is my only modification between all three above positions with a distance of 400mm between each. POS2 is the only position with a variant in Z of 120mm from A_POS2, the other 2 are 300mm respectively. This is what I have in my loop, swapped the LIN commands from PTP to utilize the trigger when path statements.
PTP A_POS2 C_PTP
PTP POS2 ;pick up part
PTP A_POS2 C_PTP
PTP A_POS1 C_PTP
LIN POS1
(trigger for output pulse) ;drop off part
LIN A_POS1
PTP A_POS3 C_PTP
PTP POS3 ;pick up part
PTP A_POS3 C_PTP
PTP A_POS2 C_PTP
LIN POS2
(trigger for output pulse) ;drop off part
LIN A_POS2
PTP A_POS1 C_PTP
PTP POS1 ;pick up part
PTP A_POS1 C_PTP
PTP A_POS3 C_PTP
LIN POS3
(trigger for output pulse) ;drop off part
LIN A_POS3