Move J error

Mike_P8122

I continue to encounter errors with Move J - "Move To" commands. This only occurs when the robot's motion is coordinated with a robot carrier. If I Jump To a point and Move To it once after, it performs as desired, however, for every Move To after that, the Robot Moves as if the robot carrier motion is not taken into account. I have corrected all base position and orientation values in the MOC file and still have the problem. 

The photos below illustrate the problem. 

 

Figure 1 - path start 

 

Figure 2 - Jump To point / 1st Move To path end (Good) 

Figure 3 - 2nd Move To path end (Bad)