# Robot not stopping at the end of movec with no blend

**URL:** <https://forum.universal-robots.com/t/robot-not-stopping-at-the-end-of-movec-with-no-blend/36860>\
**Category:** Technical Questions\
**Created:** [November 5, 2024, 1:48pm UTC](https://forum.universal-robots.com/t/robot-not-stopping-at-the-end-of-movec-with-no-blend/36860 "2024-11-05T13:48:37Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![dipendra](https://avatars.discourse-cdn.com/v4/letter/d/bbce88/32.png) [@dipendra](https://forum.universal-robots.com/u/dipendra)\
**Post date:** [November 5, 2024, 1:48pm UTC](https://forum.universal-robots.com/t/robot-not-stopping-at-the-end-of-movec-with-no-blend/36860/1 "2024-11-05T13:48:38Z")

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**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?

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**Author:** ![cags](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/cags/32/6304_2.png) [@cags](https://forum.universal-robots.com/u/cags)\
**Post date:** [November 7, 2024, 11:12am UTC](https://forum.universal-robots.com/t/robot-not-stopping-at-the-end-of-movec-with-no-blend/36860/2 "2024-11-07T11:12:47Z")

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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