# Reorientation Problem **URL:** \ **Category:** Robot Controller\ **Created:** [May 12, 2011, 2:09am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173 "2011-05-12T02:09:59Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 12, 2011, 2:09am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/1 "2011-05-12T02:09:59Z")
Hi I’m having trouble with my robot (IRB140). When I jog the TCP by orientation, in some arm poses the TCP will visibly deviate from position, yet the jog window will indicate that the x,y,z position has stayed the same. This is not a case of a bad tool definition as about 75% of the time the TCP point does not deviate. I have updated the rev counters and this has not fixed the problem. Has anyone come across this? Is it a case of a bad fine calibration in one of the axis that is forcing the TCP to move when that axis comes into play during reorientation? Any help is appreciated. – David ---
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 12, 2011, 3:38am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/2 "2011-05-12T03:38:00Z")
I should add that I just removed all the tooling and even at tool0 it appears to deviate. ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [May 12, 2011, 9:28am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/3 "2011-05-12T09:28:41Z")
Hi, Have you checked to calibration offsets in the motor calibration system parameter match those on the label on the back of the arm? Regards Graeme ---
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 13, 2011, 1:04am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/4 "2011-05-13T01:04:00Z")
Yep, checked that. ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [May 13, 2011, 2:51am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/5 "2011-05-13T02:51:01Z")
Have you sent the robot to its calibration postion with a MoveAbsJ command and checked it lines up on the calibration marks? ---
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 13, 2011, 3:04am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/6 "2011-05-13T03:04:02Z")
Not exactly, but when I was checking the rev counters, I jogged them all to 0 +/- 0.5deg and they lined up. Is it worth doing what you said anyway? ---
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 13, 2011, 3:05am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/7 "2011-05-13T03:05:16Z")
I should probably mention that the robot is hanging upside down, however I have set the alpha angle (or beta, which ever the manual said) to 3.14159. ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [May 13, 2011, 3:23am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/8 "2011-05-13T03:23:58Z")
Yes you should check it with the MoveAbsJ, all the marks should line up exactly. If they do not (and the calibration offsets are correct to the label) the robot needs to be fine recalibrated. ---
**Author:** ![Resident](https://avatars.discourse-cdn.com/v4/letter/r/d6d6ee/32.png) [@Resident](https://tech-community.robotics.abb.com/u/Resident)\ **Post date:** [May 13, 2011, 4:02am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/9 "2011-05-13T04:02:12Z")
Is this axis (axis 3 on an IRB140) lined up? The manual is fairly confusing on this axis. [http://i.imgur.com/Zh72v.jpg](http://i.imgur.com/Zh72v.jpg) ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [May 13, 2011, 4:07am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/10 "2011-05-13T04:07:08Z")
Yes that is correctly lined up (the two machined surfaces should be in line). ---
**Author:** ![samatsimt](https://avatars.discourse-cdn.com/v4/letter/s/34f0e0/32.png) [@samatsimt](https://tech-community.robotics.abb.com/u/samatsimt)\ **Post date:** [August 25, 2016, 11:02am UTC](https://tech-community.robotics.abb.com/t/reorientation-problem/4173/11 "2016-08-25T11:02:33Z")
How much of a deviation is considered ‘good enough’? I have done TCP definitions with very small error (max min mean) and yet the tcp still deviates visibly to around ~1-1.5mm. Should that be acceptable? Yes I checked that the calibration offsets are same as the label and MoveAbsJ to home position aligns the markings perfectly. Is fine recalibrated something that the a end user (novice or expert) can do? Or is service from ABB actually required?