I have been experimenting with offsetting a feature on a UR-10E. I found that it will not change the destination if the feature is offset by a thread during a move. I am trying to use it to implement a sixth axis so it needs to apply during a move. Does anyone know a way around this? I tried putting the original move in a continuously checked if statement and recalling the move if the position changes. While it does update the destination it abruptly stops for every transition then resumes. I can't have that.