[CCopland]

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I am having the same issue with robot movement. Motoman ES165N NX100 Controller. I have added the RoboDK file and the robot program generated by RoboDK and a photo of the robot output

[Sergei]

You can try the following:
- reduce the rounding value on the Program Events tab of the processing project.
- increase acceleration in Set speed instructions
- use an APT file with a larger number of intermediate points for linear sections