This is why everything should be taught to Work Objects, and those Work Objects should have touchable points on the tooling to update them. And every tool/station should be a WObj of its own.
Well...
- Make a backup.
- jog the robot to a known Pick or Drop position.
- Compare the robot's actual position to the programmed position
- Create a WObj that contains the difference between the two positions
- Change the program to use the new WObj.
- Test carefully -- when doing the subtraction, it's easy to get one or more axis backwards.
- Once you have a good WObj for one position, you should (if lucky) be able to copy that WObj for the other Pick&Drop positions.
This assumes the robot was not rotated when it was re-mounted. If it was... well, I know the math exists to do the 6DOF transform, but I'm not sure how to do it in RAPID.
thanks very much for the tipps. will try it out