OK I'm using HandlingTool 6.4.
I'm having an issue with palletization. I have a tool head (vacuum gripper) that has limited movement in either axis because of a big bunch of tubes going to the vacuum head - too far in either direction and SNAP.
So I set up joint limits on AXIS 6.
If I have one point where I've defined a point where the joint is at 0, and i need it to go up 90 degrees while moving to another point, and i move from one point to the other through the DATA menu in the position registers, it's all hunky-dory, and it rotates to the right amount.
However, if programmatically I tell it to go from PR[1] to PR[2] it twirls back an entire 180 degrees to get the tool head to the correct end orientation.
I've tried Joint (Fine), Joint (Continuous), and Linear. Linear doesn't work because it hits the axis limit on the way there.
Any way to tell the joint to go one way and stop it from deciding to do fancy twirls?