What does everyone typically have the normal and reduced mode safety settings set at whenever they are not using light curtains, area scanners, or pressure mates for a UR 10? I have a unique challenge with my project. We want each robot to perform their tasks in ideally 20 second cycles, but our absolute max time is 23 or 24 second cycles. I was doing well with this originally but my boss didn't like how hard the UR would hit you before it stopped, the way I originally had it set up it met the guidelines laid out in ISO/TS 15066. So it was safe to work around but he is afraid people will see how fast it is moving and be afraid to work with it. I played around with the all of the settings and came up with a pretty good combination that stops quickly, but now the issue is with the changes the UR is significantly slower so we won't meet our cycle times for most of the stations. Right now this is what my settings look like, Normal Mode: Force 100 N, Power 80 W, Speed 3000 mm/s, and Momentum 10 kg m/s. Reduced Mode: Force 100 N, Power 80 W, Speed 2800 mm/s, and Momentum 7 kg m/s. Any thoughts on how I can make it stop with little force but move quicker? Thanks!