Hello
So i am new but i would like to help out and share some of my expertise so that in turn i can receive help. (Karma and all that)
so i'd like to offer a solution to a common problem that people ask me when they want higher accuracy out of the robot. so how can you make a robot more accurate when running a process at a stopped point?
the solution my friends is to enage the motors for longer. default is 5 seconds. what happens is the motors dissengage after 5 seconds which actually changes the structure of the robot. if you have a TCP positioning to 0.1mm and the robot moves 0.1 whilst your doing your process you can get build up errors of over 0.2+/-
so go to Menu>System>Variables head to $PARAM_GROUP[m] > $SV_OFF_TIME[n]
set each of the joints (first 6) to the time you want in milliseconds. i typically set them to 300,000 to create a 5 minute gap.
you can apply this to all externals too but they don't have much impact.
then go ahead cycle power and give it a go. this should offer you a much better process.
hope this helps. appreciate all feedback!