Abrupt stop after movep is concluded

Technical Questions
1

Greetings URCommunity,

I have a problem in some of my programs. After a MoveP is concluded the robot has an abrupt stop (at this rate, the joints will deteriorate fastly). I tried stopj() after the last waypoint, but I don’t see any improvement.
I can decrease the speed of the movement but that’s not my intention. I am working with speeds between (0.08-0.12 m/s) with radius of 0.005-0.01 m

Any help will be much appreciated
Best regards,
Pedro Monforte

2

What’d you put for your value on the stopj()?

3

Hi Eric,
Thank you for asking. I tried many values and none seemed to do the job. I used a stopj(1500)

4

Stopj() is looking for a value in rad/s2. I’d recommend keeping this value below 14, and I often use something in the 4-8 range as a starting point.

5

Yeah did you try anything less than 1? 0.5 by chance?