Hello everybody!
Finally I could make some tests.
Yes, the robot can handle some external movements without cacelling its own movement. I set the UR 10e to full speed (180°/sec) and an acceleration of 2000°/s^2. The seventh axis was driven (horizontally; length~3m) with 120m/min and 3m/s^2 acceleration. This was OK for the robot.
But I wanted to go faster. I used 15m/s^2 acceleration on the external axis. Then I had to move “exclusively”, that means, the robot moves, when the axis stands still and the axis moves, when the robot stands still. Additionally I put the robot in a good position (center of gravity near the z-axis), when the axis moves. This seemed to work, but I did not do any deeper tests (parallel movement was faster in this case)
-Ludwig