We're trying to run our first robot (we built it for our own use) and i'm having difficulties running it at speed I want. It looks like the moves are good and smooth and I can control how fast they run via data registers (run speed override etc), but the logic processing seems to be slow. There are few calls within the main program and it looks like it waits between the calls. There's nothing fancy in these calls, but it stops and waits for no reason between them.
Here's the video of robot in action. You can clearly see that it "stops" between some of the moves. It's best shown at around 15 seconds when robot loads the part to a palette (coming from cnc), then moves to another palette and loads it from that palette. You can see that it "stops" for a brief moment, doing "nothing".
What could be causing this?