Today I was working on an application where we have a 10kg payload mounted to our UR10 with the FT300, and I noticed some erratic behavior when spinning Wrist 3 using the ActiveDrive toolbar.  Everything was calibrated successfully, but it seems like the Wrist 3 motion is very jerky and it doesn't spin smoothly. 

Have you ever seen this before @Etienne_Samson, @Annick_Mottard?  Is it an issue related to the payload?

Thanks!

@Ryan_Weaver is the payload rigid ? If it's not it can induce some forces when you are moving and cause this, make sure nothing is shaky or deforming when you move. Any ideas of the moments induced ? The induced moments could exceed the limit event with the 10 kg payload. Maybe a video or photo of the setup could help us understand what is going on.

@Etienne_Samson - see the video here: https://youtu.be/xgY8ERVZqEU

@Ryan_Weaver thanks for that, it does seem rigid and fairly withing moments limit. From what I see, that is suppose to run smoothly. I can see the motion you describe, it seems "granulated". I'll check this with the R&D team tomorrow for potential cause. I have a few ideas but I'll double check before throwing anything! 

p.s. also opening a support ticket to track this.