the way you programmed it, rotation is done about base but position when you start rotation is not square with the base.
Before the rotation, the orientation angles with respect to the base are {A 135, B 0, C 0} so my understanding is that if I rotate with LIN_REL{B -90}, after the move my rotation angles should be {A 135, B -90, C 0} and A and C should remain constant throughout the move while only B changes. Is that incorrect? I haven't tried changing coordinate frame yet, I figured I was doing something fundamentally wrong.
Make a quick test and try two movements for 45 degrees.
I broke down the move into smaller steps. The smaller the steps the smaller the intermediate unwanted tilt. This may be the solution but I'd prefer to understand what is going on and truly correct the issue.
I 'm ok with the edge of the sheet moving. The real issue is I want to understand exactly where it will be in the future and why so that when the workspace has more stuff in it later or I carry a bigger sheet or a sheet isn't gripped straight it won't crash. Thanks for the info on motions, I'm reading about them now.
another tip would be using SPTP and SLIN instead of the old motions
SLIN completely fixed the problem!!!!! It uses a different path planner right? That would explain it but wow what an easy solution, literally add one letter to the code. I was having difficulty changing the speeds multiple times but now that I have my path doing what I want I'll revisit and get rid of the $OV_PRO.
Thank you to all