You mean grapple to a edge and not climb over?  Usually it's when you grapple to a ledge where an enemy is.  At least that's the only way I know of, if anyone does know how to aside from that I would love to know as well.
						English
						- 
   
	I actually just figured it out you have to hold r1 to not climb over
 - 
   
	Awesome good to know.