UR3 Bottle Capping

aaronskidmore

Hi there, I have UR3 capping application. I am using wrist3 to screw plastic caps onto bottles, my program does 3.5 right hand turns of the cap or until it reaches a torque limit, then it needs to do 3.5 left turns - this is so the pneumatic air line hose running to the gripper head does tangle. 
My problem is depending on where the right hand turn stops depending on torque. The left hand turn can actually turn right (because that way is closer to go)

My Question is - can I force the direction of wrist3? 

aaronskidmore

I found the answer - very simple I just changed from a MOVEL to MOVEJ