# Vibrations are introduced during movement between waypoints
**URL:** https://forum.universal-robots.com/t/vibrations-are-introduced-during-movement-between-waypoints/20721
**Category:** Technical Questions
**Created:** [April 20, 2022, 8:02pm UTC](https://forum.universal-robots.com/t/vibrations-are-introduced-during-movement-between-waypoints/20721 "2022-04-20T20:02:53Z")
**Posts on this page:** 3
**Page:** 1
### Author:  [@anon72988481](https://forum.universal-robots.com/u/anon72988481)
#### Post date: [April 20, 2022, 8:02pm UTC](https://forum.universal-robots.com/t/vibrations-are-introduced-during-movement-between-waypoints/20721/1 "2022-04-20T20:02:53Z")
I have an accelerometer mounted at the TCP of a UR5. When moving between waypoints using movej() with velocity = 60 deg/sec and acceleration = 80 deg/sec^2, vibrations are measured by the accelerometer that exceed 2gee at a frequency of about 48Hz. When the robot pauses between waypoints, the vibrations are not detected. The payload is only 160 grams with a length of 128 mm and a COG at approximately 64 mm. Is this expected behavior?
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### Author:  [@cags](https://forum.universal-robots.com/u/cags)
#### Post date: [April 27, 2022, 6:37am UTC](https://forum.universal-robots.com/t/vibrations-are-introduced-during-movement-between-waypoints/20721/2 "2022-04-27T06:37:27Z")
I had a similar issue. It got fixed by adding a new payload on the installation tab with the measured settings, and then include it on the program with Set Payload.
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### Author:  [@anon72988481](https://forum.universal-robots.com/u/anon72988481)
#### Post date: [April 27, 2022, 12:24pm UTC](https://forum.universal-robots.com/t/vibrations-are-introduced-during-movement-between-waypoints/20721/3 "2022-04-27T12:24:50Z")
Thank you for the reply cgs. I tried inserting the set\_payload() function into the script, but this did not resolve the issue.
With nothing attached to the flange and all payload parameters set to 0, the vibrations are still present.