I have a UR5 robot that, during its cycle, has to reach down below its base and drop of a part into a basket. On every other stop this machine has, it stops smoothly and the radius blends just fine. On this particular stop however it jerk to a sudden stop every time. I added a “slowdown” waypoint with barely any speed to try and give it the chance to get there slowly and smoothly but it still jerks to a sudden standstill.
Had to replace some joints for this robot due to this kind of issue.
Anyone know how to make it slow down and stop gently?
Its on a MoveJ movement, speed is 20 degrees/s before it reaches the stop. Radius is blended. Acceleration is also 20. I’ve heard someone mention a stopJ function but i havent found it anywhere.
Try turning off the blended radius.
I’ve seen that cause the jerky motion before.
You shouldn’t have a blended waypoint before any type of stop/wait/delay. 
That will indeed cause the abrubt stop and unwanted wear on the joints.
not sure who your distributor is but if they are letting you buy new joints instead of helping analyze your program, i think it’s time for a new distributor… like efn said, if you have any type of decision making happening at that waypoint, you should not have a blend. also, if you are using subprograms, try not to blend the last waypoint in it as it will jerk like this when entering back into main program.