# WRIST 3 is rotated 90 degree's when I run the robot in run mode

**URL:** <https://forum.universal-robots.com/t/wrist-3-is-rotated-90-degrees-when-i-run-the-robot-in-run-mode/25526>\
**Category:** Technical Questions\
**Created:** [December 7, 2022, 6:49pm UTC](https://forum.universal-robots.com/t/wrist-3-is-rotated-90-degrees-when-i-run-the-robot-in-run-mode/25526 "2022-12-07T18:49:52Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![jvogels](https://avatars.discourse-cdn.com/v4/letter/j/97f17d/32.png) [@jvogels](https://forum.universal-robots.com/u/jvogels)\
**Post date:** [December 7, 2022, 6:49pm UTC](https://forum.universal-robots.com/t/wrist-3-is-rotated-90-degrees-when-i-run-the-robot-in-run-mode/25526/1 "2022-12-07T18:49:52Z")

</div>

I took a depalletizing program and copied it. Then I rotated the wrist 90 degree’s and re-established the 4 corners of the palletizing wizard. When I’m in run mode it goes back to the original position from the copied program. When I move it manually to the 4 corners of the palletizing wizard wrist 3 rotates 90 degrees to the correct position? Do I need to reprogram the palletizing wizard? I tried making sure the TCP was correct and all the other movements are good except for when it goes into the depalletizing operation? It’s acting like it has a stored position somewhere that it is defaulting to. If I send you my program, can you help me out?

---

<div class="post-metadata">

**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\
**Post date:** [December 9, 2022, 12:56pm UTC](https://forum.universal-robots.com/t/wrist-3-is-rotated-90-degrees-when-i-run-the-robot-in-run-mode/25526/2 "2022-12-09T12:56:12Z")

</div>

Are you running at least 5.12.2 software? Some bug fixes were made to improve the stability of the pallet template when it is copied/edited.

---

<div class="post-metadata">

**Author:** ![jvogels](https://avatars.discourse-cdn.com/v4/letter/j/97f17d/32.png) [@jvogels](https://forum.universal-robots.com/u/jvogels)\
**Post date:** [December 9, 2022, 1:13pm UTC](https://forum.universal-robots.com/t/wrist-3-is-rotated-90-degrees-when-i-run-the-robot-in-run-mode/25526/3 "2022-12-09T13:13:12Z")

</div>

Thank you, I will update my software. I am currently running 5.9.1.1

![~WRD0000.jpg](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/52d5f1c08649212fe6768d2cacdcf8df711810d9.jpeg)

![image119881.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/1848b7f1f1bdb779e62904ad2efa977b1789a18f.png)

![image311366.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/1b6300bbf42e1c3721a474c43f29d3cf1dc85ff6.png)

![image226331.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/3/34fd04c5f5eca056da581abd9440dd1d3f5b2ff4.png)

![image479815.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/e/ee904e3f72c9fc9aa4c73e9cb297d70443f4d953.png)

![image733973.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/bc89f5c142b7946c07f80f01b16d1d0818e5bfbc.png)

![image410744.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/d0f87238e1b47c15512b0def527a0b36dd101cd6.png)

![image335437.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f171df958ccb9ef3538836dbd5825e3137ce6ee0.png)