# How to move after movep without stopping?

**URL:** <https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607>\
**Category:** URScript\
**Created:** [August 28, 2020, 1:49pm UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607 "2020-08-28T13:49:47Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![anon3164729](https://avatars.discourse-cdn.com/v4/letter/a/87869e/32.png) [@anon3164729](https://forum.universal-robots.com/u/anon3164729)\
**Post date:** [August 28, 2020, 1:49pm UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/1 "2020-08-28T13:49:47Z")

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If use a move like `movel` or `movej` after a `movep` with blend radius `r>0` the robot performs a sudden stop. How can I obtain a smooth motion after a `movep`? The opposite is possible, in fact I have a `movej` with blend radius followed by a `movep` without stops.

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [August 31, 2020, 12:47pm UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/2 "2020-08-31T12:47:10Z")

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Hi @anon3164729

You can not blend from a _movep_ to a _movej_. You can use _speedj_ to make the trajectory to a target set of joint angles. On the e-Series you might be able to use the online path offset to program a behavior that suits your needs.

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<div class="post-metadata">

**Author:** ![anon3164729](https://avatars.discourse-cdn.com/v4/letter/a/87869e/32.png) [@anon3164729](https://forum.universal-robots.com/u/anon3164729)\
**Post date:** [September 1, 2020, 10:50am UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/3 "2020-09-01T10:50:43Z")

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Thanks for the answer! I’m not sure to understand the two possible solutions:

1. `speedj` is used to accelerate up to a certain speed, how can I use it to reach a set of joint angles?

2. Do you mean I should use the online path offset to build the whole trajectory?

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<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [September 3, 2020, 10:09am UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/4 "2020-09-03T10:09:07Z")

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> [@anon3164729](#):
>
> - `speedj` is used to accelerate up to a certain speed, how can I use it to reach a set of joint angles?

If you are using the _time_ parameter. You can make _speed_ continue with the speed for a certain amount of time. If you are targetting to make a “rectangular” speed profile the pseudo code would look like this:

```
j_target = [J0,J1,J2,J3,J4,J5] #your target joint angles
move_time = X #your traveling time seconds
j_speed = (j_target-get_actual_joint_positions())/move_time
speedj(j_speed , HIGH_ACCELERATION, move_time ) 
stopj(HIGH_ACCELERATION) 

```

I would also consider making a less jerking speed profile. And then you need to implement the joint angles subtraction.

> [@anon3164729](#):
>
> - Do you mean I should use the online path offset to build the whole trajectory?

Yes

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<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [April 22, 2021, 7:05am UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/5 "2021-04-22T07:05:39Z")

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Split this topic on April 22, 2021, 7:05am UTC

A post was split to a new topic: [Speedj vs movej](https://forum.universal-robots.com/t/speedj-vs-movej/13839)

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**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [April 24, 2021, 7:06am UTC](https://forum.universal-robots.com/t/how-to-move-after-movep-without-stopping/8607/6 "2021-04-24T07:06:05Z")

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Closed on April 24, 2021, 7:06am UTC

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