Ive found and characterized what seems to be an arbitrary rule in the motion planning for the LR mate 200id 14L; when a linear move at a set velocity is going to take less than 1.4s in ‘FINE’ or ‘CNT0’, the peak velocity is changed such that the move takes exactly 1.4 seconds regardless of distance, and when the move is going to take more than 1.4s the S curve ramp to the set velocity takes 0.7s.
This means that even a 1mm move will take 1.4sec.
I understand that the 14L version has much lower joint speed ratings compared to the 7L series but regardless a 1.4s 1mm move will certainly not exceed those limits.
(The minimum move duration on the 200iD 7L robot is closer to 256ms, but follows additional acceleration based motion planning rules)
Added graph
