I'm using RSI to perform move corrections for a KR 500. I'm having the robot move in X with a LIN command in KRL, and then sending a 0.1 mm correction to the path in the Y direction using the RSI Ethernet block (sending an XML) as a step response.
However, I'm getting a lag of about 32 ms between when the command is sent and the robot performs some effort at correction (attached). My sensor mode is set to IPO_FAST, and I'm reading the step response using a laser tracker. The laser tracker has a measurement lag of 2 ms.
I also see the same lag when I try to correct in the Z direction. Is there a way for me to reduce this lag?