I've set up 6-axis robots many times in the past, but this is my first robot with a auxiliary (aux) axis - listed as Group 1, Axis 7. The aux axis is connected to a shaft which is connected to another shaft with a belt. When the aux axis is not connected to the shaft/belt system is jogs freely. When I connect it to the shaft/belt system it moves in a jerking motion, not smoothly. The shaft/belt system is not bound up. I can spin it freely by hand. Is there some sort of setup (like load/inertia/tuning) that has to be done to an auxiliary axis? It makes sense that there should be, but I haven't stumbled across the correct menu or tech note yet. This is a Fanuc robot. Thanks in advance.
You can view what's happening at the following Google drive link.
