Robot Weird Moves

Hi guys,

a problem with an HP20+NX100 controller.

The robot was a bit old and parked for a long time. Now I have re-homing all axis and all seems good.

But when I try to move the robot in cartesian (Y+ or Y- direction) with the flange parallel to the floor then the R-axis starts to rotate a lot. The result is quite impressive: at the end the flange reach a -/+ 45° instead of being parallel to the floor.

Any idea or suggestion for a troubleshooting?

Quote from 95devils

1) Incorrect abso data. Take each axis to 0 pulse counts. The alignment marks should line up.

I know you said number 1 was correct. Is the B-axis straight down at the mechanical home position?

Nop...the B-axis is parallel to the floor at mechanical home.

Don't tell me that is a wrist-down robot?

Quote from 95devils

Believe it is with wrist down.

Solved, thanks a lot