We were running our robot today, as normal, and had made some changes to the PLC software. After running slowly and checking operation we slowly ramped up the speed once we were happy. Unfortunately there must have been an error which caused the robot to run a particular programme we were not expecting and it crashed full speed in to a fixture. Now, all my points are not aligned correctly when i go to pick up the parts for assembly and there could be two reasons. One, the EOT is bent or two, the joints have mechanically moved / slipped if that is even possible? Not sure what the best solution is to re-set all the points without teaching them all again. I was just thinking about setting up a test rig to check my EOT positioning but I guess that's too late. Any advice on resetting this without painstakingly teaching all the points again?
I would appreciate any input. Thanks.