I was looking through my System Ingetegrators manual and noticed it mentions that you cannot do a backwards start on a weave motion. I did a quick search through the manual and found no explanation of what this type of motion is or how to program it...
From the single diagram in the manual (fig. 8-17), it looks like it's a block of points where the robot moves in a sinusoidal path through them; I would expect that the way to program such motion would not be all that different from a spline motion, perhaps something like this (though I know this is not correct, as WorkVisual threw an error on WEAVE):
Does anyone know where this type of motion is documented?