# Abrupt stop after movep is concluded

**URL:** <https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647>\
**Category:** Technical Questions\
**Created:** [October 26, 2022, 4:33pm UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647 "2022-10-26T16:33:48Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![PMonforte](https://avatars.discourse-cdn.com/v4/letter/p/e36b37/32.png) [@PMonforte](https://forum.universal-robots.com/u/PMonforte)\
**Post date:** [October 26, 2022, 4:33pm UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647/1 "2022-10-26T16:33:48Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [October 26, 2022, 6:15pm UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647/2 "2022-10-26T18:15:25Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![PMonforte](https://avatars.discourse-cdn.com/v4/letter/p/e36b37/32.png) [@PMonforte](https://forum.universal-robots.com/u/PMonforte)\
**Post date:** [October 27, 2022, 8:21am UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647/3 "2022-10-27T08:21:06Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\
**Post date:** [October 27, 2022, 11:00am UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647/4 "2022-10-27T11:00:50Z")

</div>

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.

---

<div class="post-metadata">

**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [October 27, 2022, 11:44am UTC](https://forum.universal-robots.com/t/abrupt-stop-after-movep-is-concluded/24647/5 "2022-10-27T11:44:06Z")

</div>

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