I'm now working on a UR5 arm with LabVIEW. But so far, the joints kept rotating intermittently, as if experiencing numerous small pause regularly like what an RBI does. I've tried command movec, movej and movel, but they all showed the said result. I also tried the command servoj, but in this way, the joints didn't even react, although the log on the operation pad displayed the received commands.

I'm not in a major to do with mechanism, so I really know little about how these commands actually perform based on the arm. Thus, could you guys instruct me that with which types of commands can the arm move smoothly? Or is there anything wrong with my TCP/IP? Or with my codes for commands?  :'( 

It is very kind of you to contact me through my email, andyx9636@gmail.com. Thanks a billion :# !


The followings are some details:

Here is the TCP Server loop:


Below is the Front Panel, showing the situation when servoj mode is on:


I want to make sure whether the "command" for servoj is right or not. Plus, I'm sure that the main body is correct, since it works well for command movec, movej, movel, etc. It just functions to generate the required form odered by UR5 Script.