I'm at the end of my rope here. I spent most of the day trying to troubleshoot what I thought was one problem, but have discovered that something else is going on. For troubleshooting, I have put a few lines right after the first PTP move in this program and then edited them in the program in the attempt to get what I would expect should be different results, but am finding that I get the EXACT SAME MOTION.
Results in the EXACT SAME MOVE as this:
And that move is that the robot rotates the tool 10 degrees about the centerline axis of the tool, which is parallel to the world z axis.
When I jog the axes, A, B and C all do exactly what I would expect them to do (roll, pitch and yaw). And in the code above, when I put in ptarget.b instead of .a or .c, the tool rotates about some axis that I don't have any idea where it came from, but whatever this axis is, it is not parallel to x, y or z.
Thanks for any help or thoughts.