I am having trouble getting a smooth rotation back and forth +720 degrees and then -720 degrees for a UR10 toot plate or wrist 3 I think it is. I have tried -700 to +700 and it still doesn't work. I have tried breaking the rotation down into approximately 100-degree moves and am able to get it to make that move but it is not smooth. There is a slight pause as it passes through the weigh points. Is there a better way to accomplish this move?