Lower ACC values will help prevent damage to the flimsy design. Acceleration causes force not velocity. Simple physics F=MA. Lowering ACC will obviously also lower the max achievable speed for shorter movements.
Avoiding jerky movements is best so avoid FINE or low CNT values unless necessary.
Best to just redesign the tooling.
This is 100% true. We need a larger tool but the robot can't support the payload which sort of explains the issue. We are looking to replace the robot and tool. In the meantime, I need to walk on water and speed this robot up.