Abrupt Stopping Noise with movec in URScript

Technical Questions URScript
1

I’m experiencing an unusual noise at the end of each arc when using the movec command in my URScript program. The robot decelerates abruptly at the endpoint of the circular move, which produces a noticeable mechanical snap. I’ve already reduced the velocity and acceleration and even tried blending, but the issue persists—movel moves are smooth. Has anyone encountered this and found a solution for smoother transitions with movec?

# Example movec command causing abrupt stop noise
movec(p[0.092, -0.092, draw_z, rx, ry, rz],
      p[0.13, 0, draw_z, rx, ry, rz], a, v)

Any insights or workarounds would be greatly appreciated!

2

MoveC does not play well with blends in my experience. Try adding a stopl or stopj command after the circular move to set the deceleration manually, which will avoid the snapping noise you are hearing from the brakes.