I have been testing a trajectory generation setup interfacing with our UR10e controller over RTDE, but I am running into inconsistent timing issues during high-speed path adjustments. The external process manages coordinate offsets, yet we occasionally see packet timing warnings whenever the deltaeutor routine attempts to push updated waypoint streams during active blending moves.
The controller sometimes flags an interpolation mismatch if network latency introduces even a slight jitter into the loop. Has anyone encountered similar buffer starvation or timing flags while coordinating an external deltaeutor setup, and did you find that restructuring the thread priority or pre-buffering points in URScript provided a reliable fix?