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T800_412T800_412 Posts: 51 Apprentice
edited March 2018 in Programming
Hello Pros. Is there a way to mandate the rotation direction for UR robot joints in a move node? I have a program where the wrist is inverted to hold a part upside down. When Going back to the previous position, the joints sometimes want to travel in the direction that brings them to their end of travel stops, rather than back in the direction they came from to get where they are. I trying to add more waypoints with smaller angular change, but this causes the UR to sometimes pause between waypoints.

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