Probably wadded up the B-axis drive. Harmonic drives don’t survive big crashes.
is your program relative or pulse? if you use pulse then the TCP is not taken into consideration for the destination points but only for the path calculation.
Wadding up the drive means the harmonic drive has twisted the physical components of the drive causing the positions to be off. I am assuming the robot has harmonic drives on the upper arm since you are arc welding.
Changing the second home position doesn’t do anything for the problem. The home position would need to be changed. I would figure out if the drive was damaged before changing the home position.
how did you do the mastering? To be precise it needs to be done with motocal
When I "wadded up" my U-axis I had to look internally to properly check the harmonic drive, but externally the symptoms were a jerky movement on that axis, which goes away when the brakes are manually released.
We had to get the drive replaced, not a cheap fix unfortunately.
