Robot not stopping at the end of movec with no blend

Technical Questions
1

movec(p1,p2, a=1.2, v=0.3, r=0)

I want the robot to stop at the end of arc move (at p2) if I specify blend_radius=0.0. However, the robot accelerate until it reaches constant speed and moves with the constant speed even at the end of the arc moves with zero blend radius. This causes jerk if the waypoint next to this arc move is at some angle. Is there a way I can smoothly decelerate and stop at p2?

2

The goal of moveC is to have a constant speed through the waypoints, if you look at the free eLearning exercises, there is always a before-start and after-end waypoints that are used for the robot to deaccelerate.

So add a middle waypoint, such as movec(p1,p_middle, a=1.2, v=0.3, r=0) and use P2 as after-end point