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

Modified on Fri, 28 Oct 2022 at 10:30 AM


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. 



To resolve this: 

  1. Shut down the robot and disconnect your tooling.
  2. Power up the robot, activate it and home it. 
  3. Send the command "MoveJoints(0,0,0,0,0,720)".
  4. Deactivate the robot. 
  5. Reactivate it, home it and send the command "MoveJoints(0,0,0,0,0,0)". 
  6. If J6 is still has an offset, Shut down the robot and Repeat steps 2-6 one more time.

Was this article helpful?

That’s Great!

Thank you for your feedback

Sorry! We couldn't be helpful

Thank you for your feedback

Let us know how can we improve this article!

Select atleast one of the reasons

Feedback sent

We appreciate your effort and will try to fix the article