J6 shift

Hello guys.

Last week I have started working with my Fanuc m-20iA.

I have mig, tig and plasma tools.

I was welding 8 days without problem, but today after small collision my J6 joint have shifted.

When I call home_g1, all joints are perfect at home, except J6 is shifted around 90 degress.

Tcp is ok, I have checked with turning arround.

UFrame is the same as always.

But when I want to call change_gripper, i get error: in singularity. Same with program tool_recovery.

What is wrong?

-sorry for my english.

Yes. When I cal home, joint 6 is not at home.

Okay, I have figured out.

Mig tool, have spring in it and I can shift it for every 30degree with hand.

Now it is in reference place and it works like a charm.