We have found that after apply Fanuc gravity compensation, the TCP calibration error increased: we can visually see that the tip deviate more when we change the tool pose. We use the flange pose to calculate the TCP position ourself and got very close answers.
So the question: does anyone else see that the gravity compensation decrease the TCP consistency?
After switch to gravity compensation, do we need to redo zero position. We currently just used the zero position mastering from the factory. The robot is M10-ID12
According to the document that came with the robot, zero position calibration was done with gravity compensation on.
TIA