World Coordinates Error cannot move linear.

What robot model are you working with? Post a picture
If the marks are erased is going to be difficult to calibrate

In the calibration posture the
main arm (link 2) is vertical
upper arm (link 3) is horizontal :
at 90 degrees with link 2
link 5 is in line with link 3

J1,J6 are unimportant

What is your application???
You might no need to calibrate accurately the arm

If you use it for pick and place joint interpolation is enough

Welding sealing requires good calibration

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Check the attached file

Your robot's zeroing signs may have disappeared. In the "JOIN" position, the zero points of the engines do not change much. However, due to not working too much over time, some motors may deviate by 1-1.2 degrees.
In my opinion, do not reset the reference point of your robot, but reset it with reference to the zero points you see in the "JOIN" position. We've worked on this before, we have tried many methods, but it's very hard to catch factory values at home. We are fine-tuning our source points according to the zeroing we have done.

I've heard but never seen FANUC zero fixture tool.

As far as I know you could use it to get 0 position again.

None of the bolt heads on any of my robots have paint on them.
It looks like your robot has been painted.
The witness marks probably need to be uncovered.

If you have another robot of the same model, you might be able to cheat out a zero position mastering.

Take a mastered and functional robot that is identical, and use a miracle point or digital protractor to manually align all of the axis on the bad robot to the exact same angles as the good robot at 0, then zero master the bad robot. The only parts i am concerned about are J1 and J6, because i am not sure how you would be able to positively ID them. For J1, maybe drive to a hardstop and single axis master it to whatever the hard stop location is supposed to be? Not very accurate. For J6, if it is continuous rotation, maybe just pick an orientation, and it should be fine.

Alternatively, Fanuc should have a method with a special fixture which they could use to re-master a robot without witness marks.

In these instructions, Robot 1 will be your current problematic robot, and Robot 2 will be a known good robot of the exact same model as Robot 1.

1. Take Robot 2 to its zero position.

2. Use a miracle point or digital protractor to measure the base of Robot 2 to determine if it is level or tilted.
2.1 If level, no action needed.
2.2 It tilted, rotate J1 of Robot 2 so that the robot faces directly uphill or downhill (to make math easier)

3. Repeat Step 2 for Robot 1.

4. Determining your offset. Measure the slope of the base for Robot 1 and Robot 2. Whatever the difference is, remember that. You will be adding it (or subtracting it as appropriate) to your measurements.

5. Use the miracle point or digital protractor to measure the angle of the lower arm of Robot 2. Add (or subtract as necessary) your angle offset, then carefully jog J2 or Robot 1 until the miracle point or digital protractor indicates you are at the desired angle.

6. Repeat step 5 for J3.

7. J4 should be measured to level, if your robot is aimed uphill or downhill at J1.

8. Repeat step 5 for J5.

9. For J6, i would assume that you are near the middle of the range. Measure across two bolts on J6 or Robot 2, then jog the faceplate so that it matches between any two bolts.

10. Perform zero master on Robot 1.

11. Last is to try and get J1. Move J1 of robot 1 and robot 2 to the same direction hard stop.

12. Perform a single axis master on Robot 1 to the angle value of Robot 2.

This is the best estimate i could come up with, if i were in a desperate place.

Sounds like you are out of luck. Call Fanuc. They should have a fixture to master it without scribe marks. Once it is re-mastered, add new scribe marks, so you can recover in the future. Fanuc sells the little glue on pointers that come by default, or you can just put a clear scratch in the paint across both sides. I like the arrows.

I am sorry, I couldn´t reply early. I am busy

If your robot has calibration errors just add move intermediate point in you weld path

You can attempt calibrating the robot WITHOUT master fixture :

Is possible because there are multiple solutions to reach the same position/orientation
When the robot is correctly calibrated, the tool position/orientation will be the same when configuration is changed

But when robot is not calibrated correctly position/orientation will be different

Then you move the robot axis to calculate the correct angle
Finally, use the computed value to single axis master

Only J2, J3, J4, J5 are critical

First, roughly calibrated/master the robot
Tool Frame is unimportant, make it zero

Then adjust the calibration starting from J5

Fix a pointer reference
Then move robot to touch the tip of the pointer
Record the point twice (using Joint interpolation)
Change the configuration of the second position (Flip to Non flip or viceversa)
Move robot to second position
If robot is not correctly calibrated, Tool tip would not return to the tip reference pointer
Take note of the programmed J5 value
Moving only J5 bring the Tool Tip as close as possible to the pointer
Read the value of J5 axis
Add both values and divide by two
Without moving the robot single axis calibrate using the computed corrected angle
Master robot

That would correct J5 axis

Try this first, then I will send instruction to correct the rest

http://www.roboticsresearch.co…df/Fanuc/arcmate100iB.pdf

To roughly calibrate just move the robot to the posture shown in the pdf document

Zero master the robot

MENU -> SYSTEM -> MASTER/CALIBRATE -> ZERO POSITION MASTER

Then in the same menu Calibrate the robot

MASTER/CALIBRATE -> CALIBRATE

To check that you correctly calibrate check the position values

Press POS button

ALL joint values should be ZERO

Check which of your TOOL Frames is NULL (All values ZERO)

MENU -> SETUP -> FRAMES -> OTHER -> TOOL FRAME

Check the Tool frame definition by pressing DETAIL

Make any NULL TOOL Frame the active TOOL

SHIFT+COORD, then press the number of the NULL TOOL

Then display the position in World coordinates

The position with a NULL Tool should be

X= 150+615+100 = 865
Y = 0
Z = 600 + 100 = 700

W = 180
P = -90
R=0

In this position the wrist is in singularity (J5=0)
To jog thee robot in world coordinates, move J5 first in joint mode

Then jog in world coordinates

Follow the procedure to calibrate J5