ABB IRB2400L IRC5 "orientation" problem

50076, Orientation not correct
Description
Orientation is incorrectly defined.
Recommended actions
Make an accurate normalization of the quaternion elements.

Hi experts.

How to "normalize quaternion elements"?

The problem occurs when the robot goes to the Bullseye for TCP check.
The gas nozzle (welding robot) seems ok.
I put it down and put back correctly, run a TCP update, and its ok for an hour and the message comes again...

On the other hand, when I send the robot to the reference pointer, I can see some deviation, also immediately after the update...

I will change the torch neck and the work cable because it was served its time...

But I think it is not the cause of the problem...

On the other hands, the welds are absolutely looking good.