Hi,
     Trying to make a little animation with the RoBotiX: Onslaught from Daz, I've had similar problems before and am wondering if there is a poser fix for this..

Anyway, I set up IK chains with arms (collar- shoulder- elbow- forearm-  hand) and legs (thigh- shin- foot), from the hierarchy window. Just makes a mess when I move anything, I uncheck 'use limits' in the figure menu, everything looks great, moving perfectly all the joints look right and so I start animating..

I use key frames every 20 frames or so on Onslaught, expecting (foolishly) that at least every 20th frame will be right, but when I scroll back through the frames, god it looks terrible.  Looking at the graph for hand and foot position there is no linear warps, its just recorded hand and leg placements that I didn't enter at each key frame.  Now I'm not even sure if its recorded the position minus the limits its such a mess, but since limits mess up the IK chain in real time I'm assuming that is what is happening.

any suggestions?