Rotating wrist 3 on UR5e 270 degrees

jeroenSmits

Dear all,

I have a short question about a rotating move from the wrist 3 on a UR5e

I have a application where i need to turn this wrist 270 degrees while staying at the same position and applying a force in the X+ direction

I have done this by using Force from the template folder and a moveL relative to its current position to a 180 degrees turn from wrist 3

however when i make de MoveL movement of the turning from wrist 3 bigger then 180 degrees, it will turn in de wrong direction( i think because this is the shortest path)

Is there a way to restrict the wrist 3 joint to turn in de positive direction and only allow it to turn in the negative direction?

Like to hear from someone