Hi guys,
I am currently working with a new ABB IRC-5 robot with force control. As many of you know when installing a torque converter using force control the 6 axis can be anywhere from 180 to -180 degrees. The issue I am having is there is a large panhandle off the end of arm tooling for cable management. Anytime I am greater than -165 degrees the robot wants to move home by rotating axis 6 counter clockwise causing a crash. I know I can add intermediate points but is there a command I can use instead to always make the robot rotate clockwise? TIA
John