# Bad orientation after blend

**URL:** <https://forum.universal-robots.com/t/bad-orientation-after-blend/5176>\
**Category:** Technical Questions\
**Tags:** bugs\
**Created:** [September 24, 2019, 7:57am UTC](https://forum.universal-robots.com/t/bad-orientation-after-blend/5176 "2019-09-24T07:57:41Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\
**Post date:** [September 24, 2019, 1:14pm UTC](https://forum.universal-robots.com/t/bad-orientation-after-blend/5176/2 "2019-09-24T13:14:10Z")

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Hi Damian,  
This bug was fixed together with blending algorithm changes for eSeries. Unfortunately this was breaking change, and could not be ported back to G3.  
Workaround is to have the same waypoint repeated twice at the end of move sequence. This compensates for rotation over or undershoot.

The same problem is mentioned in this post:  
[https://forum.universal-robots.com/t/movep-not-reaching-target-tcp-orientation/1217](https://forum.universal-robots.com/t/movep-not-reaching-target-tcp-orientation/1217)

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