[akhil555]

Hello Albert,

Thank you for your reply. I added "Blending_Check = False" to the "Universal Robots MoveP" post processor but that did not change anything unfortunately. I have copied the post processor code here.

# -*- coding: UTF-8 -*-
# Copyright 2015-2022 - RoboDK Inc. -//m.sinclairbody.com/
#
# This file loads the compiled version of the RoboDK post processor for:
# Universal Robots MoveP robot controllers
#
# More information about RoboDK Post Processors and Offline Programming:
#//m.sinclairbody.com/help#PostProcessor
#//m.sinclairbody.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------

importsys
importos

#Needed to make the robodk generated code work
importmath
fromrobodkimport*

# Detect Python version and post processor
print("Using Python version: "+str(sys.version_info))
path_app=os.path.dirname(__file__).replace(os.sep,"/")
print("RoboDK Post Processor: "+path_app)

# Check if the post is compatible with the Python version
version_str=str(sys.version_info[0]) +str(sys.version_info[1])
path_library=path_app+'/v'+version_str
ifnotos.path.isdir(path_library):
msg="Invalid Python version or post processor not found. Make sure you are using a supported Python version: "+path_library
msg+="\nSelect Tools-Options-Python and select a supported Python version"
print(msg)
raiseException(msg)

# Load the post processor
exec("from v"+version_str+＂．Universal_Robots_MoveP import RobotPost as BasePost")

classRobotPost(BasePost):
# Set to True to use MoveP, set to False to use MoveL
USE_MOVEP=True

# If True, it will attempt to upload using SFTP. It requires PYSFTP (pip install pysftp. Important: It requires Visual Studio Community C++ 10.0)
UPLOAD_SFTP=False

# default speed for linear moves in m/s
SPEED_MS=0.25

# default speed for joint moves in rad/s
SPEED_RADS=0.75

# default acceleration for lineaer moves in m/ss
ACCEL_MSS=1.2

# default acceleration for joint moves in rad/ss
ACCEL_RADSS=1.2

# default blend radius in meters (corners smoothing)
BLEND_RADIUS_M=0.001

# 5000 # Maximum number of lines per program. If the number of lines is exceeded, the program will be executed step by step by RoboDK
MAX_LINES_X_PROG=1000000000.0

# minimum circle radius to output (in mm). It does not take into account the Blend radius
MOVEC_MIN_RADIUS=1

# maximum circle radius to output (in mm). It does not take into account the Blend radius
MOVEC_MAX_RADIUS=10000

BLENDING_CHECK=False

pass

if__name__=="__main__":
exec("from v"+version_str+＂．Universal_Robots_MoveP import test_post")
test_post()

Also, I don't think any of the movements are less than 5mm? Please take a look at the image below with the UR10 robot and the curve it's supposed to be following. The distance between every point is greater than 5mm (the OD of the robot's J6 is 90mm for reference). Am I missing something here? Thank you!