The robot slows down significantly when passing help points. All my help points are set as blended joints, blending 50 mm post blending 50 mm (see screen). I tried changing the settings to PTP blended, but the result was the same. I discuss this with Stäubli. I sent them video trajectories, record and screenshots of setings of the points. It got through to the uniVal developers and they wondered if the correct function blocks,MC_MoveAxisAbsolute, Direct and Linear were being used and on follow up if they were waiting for the MC_GroupContinue statuses which should be the correct function block to use.
Thank you in advance for reply.