UR3e Support

[v01tt]

Hello There,
I'm looking to work with one of the new UR3e model. I prepared the 3dm and xml files for it. And while doing so, I noticed that the new model states its J6 working range as infinite. I looked through a couple of the technical data for the other UR models, and this seems to be a new specification. I ignored this difference and continued to configure the file with J6 as -360 & 360.
However, when I tried to run the generated code, on the URsim, there seems to be this error where joint 6 is continuously rotating and never attaining its end target.
Can anyone help resolve this issue?
Do I revise my file and configure to be treated as a 5 axis robot? Any Idea?

[v01tt]

I think, I found a work around for now.
You can turn off the infinite mode for wrist 3 from the Safety Configuration menu of the UR3e. This will turn the working range back to +/-360.