Joint 6 is offset, how can it be put back to the original position?


When joint 6 is at Zero, it should be in the following position:



The range of the absolute encoder of joint 6 is ±420◦. Therefore, you must always rotate joint 6 within that range before deactivating the robot or shutting down the robot. 

Failure to do so may lead to an offset of ±120◦ in joint 6. 


Please do the following to get it back to normal:


  1. Shut down the the robot and disconnect your tooling.
  2. Power up the robot, activate it, home it, and zero joint 6. 
  3. If the screw on the robot's fange is not as in the image above, then rotate joint 6 to +720◦.
  4. Deactivate the robot. 
  5. Reactivate it, home it and zero joint 6 again.
  6. Repeat one more time if the problem is not solved. 

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