# Robot jerks on transition from reduced to normal

**URL:** <https://forum.universal-robots.com/t/robot-jerks-on-transition-from-reduced-to-normal/29226>\
**Category:** Report a Bug\
**Created:** [June 26, 2023, 7:46pm UTC](https://forum.universal-robots.com/t/robot-jerks-on-transition-from-reduced-to-normal/29226 "2023-06-26T19:46:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**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:** [June 26, 2023, 7:46pm UTC](https://forum.universal-robots.com/t/robot-jerks-on-transition-from-reduced-to-normal/29226/1 "2023-06-26T19:46:58Z")

</div>

Steps to reproduce:  
Create a safety plane set to “Trigger Reduced Mode.” Set your Robot Limits to be the exact same between Normal and Reduced. Have the robot move across the safety plane using a MoveL instruction.

Expected Behavior:  
As the settings are set to identical values, the robot should seamlessly move across the transition plane

Actual Behavior:  
Robot hits hard like it’s using a blend radius of 0 when transitioning OUT of reduced move. Doesn’t seem to suffer the same behavior when going FROM normal TO reduced.

Workaround Suggestion:  
None. Just deal with it, but I have a feeling it isn’t great for the joints.

Robot Serial Number:  
20225205237

Affected Version(s):  
5.13.1