KR C2 moving in circular motion rather than programmed path

[disanto24]

Hi All!

Just wanted to contribute a data point on this topic.

I had the same issue as described above, robot rotated around the part even though sim looked good with mostly stationary bot.  My robot jogged correctly with the turntable, all PRC settings setup correctly. 

My issue was resolved when I switched the $AXIS_DIR[7] variable from -1  to 1.

FWIW