Hi,
I am currently using the UR3e with polyscope 5.22 for various projects and I started having an issue with the teach and the robot. The robot abruptly stops while trying to reach the initial position of a script or program, with no warning. When I start the program again, it starts moving and abruptly stops a couple of cm after. Once the initial position is reached, it does it way less often during the program(although it still happens from time to time).
A second issue is that the teach sometimes shows the play button as if a program is running when I have not clicked on anything and goes back to normal after maybe 3 seconds (it sometimes interrupt the free movement of the robot aswell). This happens repeatedly, I have not found a fix.
Any fix for this issue ?
Thanks in advance for your help
Are you perhaps using a robot tool with a URCap such as an OnRobot gripper?
I have experienced sort of the same when a gripper is initializing. It will break off freedrive and “manual” movements. It will also show as if the program is running, while this is happening. 
An Onrobot gripper is sometimes attached but it does it also when I have nothing attached to it. Have you found a fix to your issue that I could try ?
Thanks for your help
The only “fix” I found was to wait for the URCap to finish after robot initialization, before anything else was done.
Also, remember to disable the URCap when the tool isn’t mounted.
Makes sense, Thank you !