I have a IRB 4600-45/2.05 with an MU100 ext axis and 50:1 gearbox.
We are seeing overshooting/ lag when performing coordinated motion.
We have done tuning on the axis with no improvement
I have attached a video of the robot following 20 degrees of motion (of the 7th).
At slower speeds in manual the lag is barely present.
When we go into auto we see <1-2mm drift.
Any help would be greatly appreciated.