The repeatability of the UR is listed as 0.1 mm. While this may be true for point-to-point positioning, in my experience the path between those points will not be as precise. We've encountered several path-critical applications where the UR has fallen short--in one example, while traveling in a straight line between two waypoints with the moveL command, the position of TCP would fluctuate up and down by up to 2mm along the supposedly linear path. This occurs even in tests with no payload.In your experience, does the use of path teaching with the FTS improve the repeatability along a path? Are there any other ways to achieve a highly repeatable path?