Kawaguy backup is attached
TygerDawg band spanking new CP180 with probably less than 10 hours of use
kwakisaki the movements involved the robot working very close to its minimum joint limits - an approach which would transition to a pick location. That's where is behaved erratically. If it was a north/south issue or a close moving JMOVE it should have done the same thing when we ran it again but it worked perfectly the 2nd time around. We tried multiple times, doing exactly the same thing, to replicate and record the erratic movement (to avoid doing it again) but we could repeat the behavior - it worked as it should hence the confusion.
Another programmer has had a similar experience with the CP180 by stepping through the program with step once ON and in repeat mode but as with us, it was only once off.