One of the FANUC robots that I have worked on is having a strange case.
Someone had tampered somewhere within the system and somehow the default position configuration is changed from NUT000 to NUT00-1.
From what I understand about the configurations by reading and watching the videos, is that you can change them for each position while you are programming, as required.
So, what is happening is, that the programs in the robot have not been changed and the points have the NUT000 configuration when checked in line. But when you look at the Actual Position of the robot in Menu>Position, the World frame shows that the Robot is using NUT00-1. And when you run the program, the robot should move the 6th joint 90deg clockwise to the next position but it's actually taking the counter-clockwise route to reach there. All joint points are affected and Linear ones are unaffected.
When I checked the $CONFIG_MASK variable in $SCR_GRP to compare it with another robot which actually has the NUT000 config, the values are identical. I am guessing I will have to change CONFIG_TURN_NO3 in the $CONFIG_MASK option but I am worried about how it may change the system or affect the existing programs.
So, I want help to find out if there's a way to change this configuration system-wide or should I have to live with it and touch up every position on the program?
PFA some images for reference. I made a collage of all things that I said here.