Need to slow down 7th Axis

Not sure if it will certainly work with RJ3iB but can be given a try.

Go to controlled start--> menu--> Maintenance---> Select your tool and scroll through Display/Modify additional axes options. Maximum speed can be defined there.

(Assuming that your 7th axis is controlled by the same controller)

...or you can just decrease the speed in motion instructions + use the ACC instruction

I hope you got your answer from bidzej and aishpd

I think you should normally be able to solve this problem by specifying/limiting your desired Cartesian speed within each position instruction, as bidzej explained.

There is a way, however, to limit the speed of a particular axis. I offer this for your consideration, but I would not make any changes without first taking a complete "All of the Above" backup of your robot memory, to some external media such as a Mem Card.

In the System Variables,
$PARAM_GROUP[1].$jntvellim[7]
could be used to limit the velocity of Joint 7 only in millimeters per second. This should not be used to attempt to increase velocity of a particular joint (axis), but it looks like you are trying to lower the speed of axis 7 only.

This System Variable would need to be set within a Controlled Start (PREV & NEXT keys start), followed by a FCTN key, Start(Cold), after you change the System Variable as desired.

If this doesn't give you the results you were looking for, then you have your backup.

It would be great to hear back from you about how you solved your problem.

Quote from bidzej

...or you can just decrease the speed in motion instructions + use the ACC instruction

Good point... is it the speed or is it the acceleration that's causing the problem?

You can also add an extended axis velocity command to the motion instruction. Just move to the end of the instruction and press F4 for choice.