Manipulating the zone size didn’t produce any substantial difference. I also changed the Prefetch Queue time. Increasing it up to the maximum made the movements smooth for a longer time, but did not solve the real problem. I also noticed that id I stop the arm switching MotorsOn to off, when I restart the motion, the robot moves smoothly for a distance and then starts stop-and-going again.
After this experiments I’m pretty sure that this problem is more related to CPU overload than to zone settings. I’m saying that because whne I put only one robot to work, disabling Multimove functionality, the whole path is done perfectly.
More than increasing std_servo_queue_time, is there another thing that can be configured that would improve system’s performance?
Thanks
Leo