I already have a complete RobotStudio station and RAPID code driving an ABB IRB six-axis arm through a straightforward pick-and-place routine. Everything runs safely but the cycle is too slow for our new takt time. Your task is to open the project, analyse the existing paths, and trim every unnecessary millisecond while keeping the motion collision-free and mechanically sound for standard (non-fragile) parts. Key focus • Replace Fine moves with blended zones where practical, adjust zone data, tune speeddata, and shorten path geometry so the end effector spends less time in air moves. • Optimise the pick and place arcs themselves—tighten approach/retract distances, swap LIN for Joint moves when it won’t affect part orientation, and remove duplicate instructions. • Maintain current tool frame, workobject references, and I/O handshake; only motion optimisation is required. Deliverables for acceptance • Updated RAPID modules and system parameters ready to load on the real controller (.mod/.sys files). • RobotStudio simulation file demonstrating the new path with no collisions and clearly showing the reduced cycle time in the Cycle Time Analyzer. • A short written summary outlining every change and the achieved percentage reduction versus the original run. If you have recent experience squeezing seconds out of ABB cells and can show the improvement inside RobotStudio, let’s get this moving.