Hi guys,I tried integrating a SICK safety scanner with a UR5 robot last week. My goal was to have the go into Reduced Mode settings as soon as the robot moved across a certain line. I had no problem setting up the safety area and editing the safety settings for the Reduced Mode. However, the robot's transition into the reduced mode is very sudden and creates a jerking motion when crossing the line. The only way I managed to reduce the jerking motion was to reduce the speed and acceleration differences in the settings. Is there a way to create a smooth transition between the normal working settings and the reduced mode settings with Universal Robots?