Hello,
I was erring into the pendant and I ended in the Cold start, MAINTENANCE - Group 1 - MANUAL and had to go through the iniatial setup of the robot. I made sure not to change anything and just to stick to the defaut values.
Now as I have figured out, going through this steps reset some libraries such as the gravity compensation (the integrator made a user alarm for this). I then restored the gravity compensation to Off and went on with my cores. The following day I was told that the TCP was off by 6mm with its reference point.
I checked the tool value, mastering and reference program point position and everything is correct. It doesn't seem like the error affects one particular joint so I don't think a collision is involved. Unfortunately, there are no reference marks for J5 and J6 as they were changed before.
My question is what can have been changed in the libarries that could have such an impact on the robot precision.
The machine is an Arcmate 120 ic12L R30 ib
At the moment, I have exported all the variables and I am comparing them to see what has changed from the old backup.
I don't feel like using an image restore as the image at hand is an old one.