Incorrect motion ????

Robot Controller
1

I have an IRB 7600-150/3.5 robot that does not move properly in the world, robot/base, or tool modes. In world mode, it moves as if the world frame has been rotated about x,y,and z coordinates. When I tried to teach a TCP the mean error was 243. I think that number should be less than 1. I have checked the rev counters and even done a fine calibration and nothing changes. Any suggestions?

2
  1. check World Object
  2. check Tool number
  3. check Liner or Joint Move