Robot moving beyond joint limits


I use a Python Process Handler to create objects of type vcMotionTarget for the robot to go to, but it does some very weird movements to get to those points, including going beyond the limits of its joints. I have 2 questions:

  • could creating the movements with the Python API instead of the buttons in the Program Editor cause the robot to not respect some limits?
  • could adding a tool be the cause? The robot moves much nicely without the tool on, but that could be just a coincidence.

I may upload a layout tomorrow. This is difficult, because I don’t want to show objects that are specific to my company’s product, and it’s diffcult to reproduce the issue in other ways.