Good morning,
I came in over shutdown to work on a robot that always jogs at an angle in world. I assumed it was not referenced properly and planned to re-reference it and re write the programs over the next 3 days to be ready for startup. I found today it was referenced properly, but that joint 1 seems to be scaled in MM instead of degrees.
If I rotate J1 90 degrees the position value reads ~1800. The axis limit for J1 is -4000mm to +4000mm. I have never seen this before and am at a loss as to where to start. The robot has been running production for ~18 months without issue, other than difficulty teaching points. It is an M16iB-20 with a RJ3iB controller.
Any help would be appreciated,
Matt