# Controlled stop after movep at specific point

**URL:** <https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372>\
**Category:** Technical Questions\
**Created:** [February 4, 2025, 8:48am UTC](https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372 "2025-02-04T08:48:11Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![rob.engi](https://avatars.discourse-cdn.com/v4/letter/r/ec9cab/32.png) [@rob.engi](https://forum.universal-robots.com/u/rob.engi)\
**Post date:** [February 4, 2025, 8:48am UTC](https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372/1 "2025-02-04T08:48:11Z")

</div>

Hello,

I am developing a URCaps to create specific paths. The URCap is generating a script with a loop, that includes movep and movel lines.  
The robot should move at a constant speed during the path, but at the end of a line, it should stop in a controlled way at the last point of the line.  
There must be a easy solution, but I was not able to find it.  
When I put a movel at the last point (the program accesses it via an If-command in the loop), the robot already stops at the second to last point and then moves to the last point like a normal movel commend.  
I want to robot to still move at the constant speed at the second to last point (movep) but break at the last point.  
Stopl does not seem to stop at a specific point. It does not have an input parameter for that. The path it is continuing while breaking also does not make sense.

How can I solve this simple thing?

Thanks

---

<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:** [February 4, 2025, 2:13pm UTC](https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372/2 "2025-02-04T14:13:34Z")

</div>

MoveP has an acceleration parameter that should be taking effect when it gets within the Blend radius (other parameter) of the Waypoint. What are your values for acceleration and blend?

---

<div class="post-metadata">

**Author:** ![rob.engi](https://avatars.discourse-cdn.com/v4/letter/r/ec9cab/32.png) [@rob.engi](https://forum.universal-robots.com/u/rob.engi)\
**Post date:** [February 5, 2025, 1:56pm UTC](https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372/3 "2025-02-05T13:56:56Z")

</div>

Hi Eric,

because I need to have high path accuracy for the process, the blend radius is the lowest, 1mm.  
The acceleration and speed can be set in the urcap, but usually are 100-200mm/s^2 and 50-200m/s.  
The distance between the points of the loop is 10mm. But increasing it to 100mm also did not work. But that would not be a good solution, because not all paths are straight and for some paths intermediate points are needed because a circular move is done.

---

<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:** [February 5, 2025, 2:26pm UTC](https://forum.universal-robots.com/t/controlled-stop-after-movep-at-specific-point/38372/4 "2025-02-05T14:26:48Z")

</div>

Hmm. Well I’m pretty sure I’ve used MoveLs straight off of MovePs to accomplish exactly what you’re describing here. Can you post the script that your CAP is writing?