Universal Robots Forum

Transition from linear to joint - Jerk


I noticed some strange behavior of UR 10 CB3 3.12 (and previous). When I try to do smooth transition between linear and joint move (in both directions) .
At the moment of transition sometimes occurs jerks and protective stops. For now whenever I want to switch from linear to joint move, I use stop at this point. Is there any way to use blend move in transitions?

Thank you for help.