Good and Healthy 2021 I wish you.
FANUC Arc Mate 100iC 12L
The first welds that were programmed via TP were OK, however when I started using welding programming from WELDPRO I came to a situation where the tool was loaded into the model. This was especially pronounced when the tool needed to be rotated along the J6 axis. Then we discovered that the JOG robot on the Y axis is not good, ie. that the whole plane is rotated by +Z for 0.6 degrees, at a distance of 1100 mm deviation is 15 mm. Afterwards, I added some more points for checking, the readings in ROBOGUIDE and TEACHPENDANT are with an error on the 3rd decimal, however in reality the deviations are from 15 to even 25 mm !!!.
MASTERISATION and CALIBRATION were done first, according to data and information from experts from FANUC but that was't solution, I am still waiting for a solution.
At picture you can see deviation in position reading, index 1 is from RoboGuide, index 2 is from TeachPendant when Tool was Joged to desired control point.