We are recently testing the DPM option on a Fanuc M10iD robot with 30iB controller. We got it moving with offset sent from the socket. However, unless the speed is really low, the robot movement is very jerky, almost violent, for example, 1mm for cycle, and the jerk frequency seem to be consistent with the 8msec ITP.
From the outer set, it seems that the robot moved too fast at each offset command. The robot seem to be stopped before the next offset command, so it starts and stops at each cycle, resulting in violent vibration.
I am familiar with similar function with Kuka, the RSI, where it has a PID setting that we can adjust the servo response. But for DPM, I don't see this option. Is there anyway we can adjust?
Thanks in advance and have a good weekend!