[JoaoEm]

You can set the blending to a value greater than 0, for example, 10 mm. For example, robot.setRounding(10).

This should work well if you are generating your robot program offline. On the other hand, if you are moving your robot directly from your code or RoboDK (using the driver), the robot may synchronize at each line of code.

Thanks for the reply Albert, yes I am moving the robot through my code, by the online programming,so setRounding won't work very well?I don't quite understand what you mean by "the robot may synchronize at each line of code" could you give more details please?

I haven't been able to test setRounding yet, I'll test it tomorrow and give you feedback, thank you very much!