Kuka robot approximate positioning default

What I have observed is, when there is change in acceleration and approximation, robot tends to stop at that point and continue. If you want to have smooth motion without stopping but want to vary approximation or acceleration then you should always keep both acceleration and approximations in the ratio of 1:1. You will have smooth motion without stoppage.

There are several options for doing this in KRL. The most advanced of which would be to use Spline motions, although I don't know if your OLP software can accommodate that.

For "classic" PTP and LIN motions, you have multiple options, depending on what version of KSS your robot has. Most often, C_PTP for PTP motions, and C_DIS or C_VEL for LIN motions.

C_whatever is not a variable, it is an option appended to a motion command, like so:
LIN P1 C_DIS
Without appending the C_ option, the robot will execute the motion command and decelerate to a full stop, before beginning the next motion command.

The parameters of the approximation are defined by the variable $APO, which is a Structure variable containing multiple options for the C_PTP, C_DIS, and C_VEL.

One thing to keep in mind is that no approximation takes place more than 50% of the distance between points, regardless of the settings in $APO, and the approximation between Point 1 and Point 2 can be affected by the distance between Point 2 and Point 3.

Have you used these variables like c_dis or c_ptp ? Then please share the pictures and if we are using these variables then have to we need to make command of lin and ptp etc.