Base move goes wrong direction

Using Polyscope I have a base move between 2 waypoints where the base joint is programmed to move from +180 degrees to +90 degrees in a negative direction, the visuals for the 2 waypoints show the correct poses but when the move starts the base joint sets off at high speed in the wrong direction then faults out after about 3 degrees on overspeed. The move is programmed as a ‘MoveL’ [Base] [Use active TCP].

Try changing the move type to a MoveJ
a MoveL will always move to the point using the shortest distance while keeping the TCP orientation.
that’s why it overspeeds trying to move one or more of the wrist axes to keep orientation.
You could also try use Joint positions.


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OK that works. Thanks.

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