# Weird Linear Operation of ABB IRB120 by Linear Motion RAPID flexpendant.

**URL:** <https://tech-community.robotics.abb.com/t/weird-linear-operation-of-abb-irb120-by-linear-motion-rapid-flexpendant/11436>\
**Category:** IRC5\
**Created:** [May 15, 2024, 1:38pm UTC](https://tech-community.robotics.abb.com/t/weird-linear-operation-of-abb-irb120-by-linear-motion-rapid-flexpendant/11436 "2024-05-15T13:38:18Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Tianyi](https://avatars.discourse-cdn.com/v4/letter/t/57b2e6/32.png) [@Tianyi](https://tech-community.robotics.abb.com/u/Tianyi)\
**Post date:** [May 15, 2024, 1:38pm UTC](https://tech-community.robotics.abb.com/t/weird-linear-operation-of-abb-irb120-by-linear-motion-rapid-flexpendant/11436/1 "2024-05-15T13:38:18Z")

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I use X, Y, Z Linear Motion, but only x-axis is right when using X linear Motion. Y, Z not go straight line but in a weird trajectory…

[https://youtu.be/5t6dbVAHo28](https://youtu.be/5t6dbVAHo28)

Despite the flex pandant is going on X,Y,Z linear, the real robot cannot move in straight line. It is so weird.

Can some one help me ?

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [May 15, 2024, 2:32pm UTC](https://tech-community.robotics.abb.com/t/weird-linear-operation-of-abb-irb120-by-linear-motion-rapid-flexpendant/11436/2 "2024-05-15T14:32:27Z")

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Start by checking the calibration offsets, then verify the correct robot type has been installed, including the type variant, if applicable.

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<div class="post-metadata">

**Author:** ![Tianyi](https://avatars.discourse-cdn.com/v4/letter/t/57b2e6/32.png) [@Tianyi](https://tech-community.robotics.abb.com/u/Tianyi)\
**Post date:** [May 20, 2024, 9:00am UTC](https://tech-community.robotics.abb.com/t/weird-linear-operation-of-abb-irb120-by-linear-motion-rapid-flexpendant/11436/3 "2024-05-20T09:00:24Z")

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> [@lemster68](#):
>
> Start by checking the calibration offsets, then verify the correct robot type has been installed, including the type variant, if applicable.

I have fixed the problem by re-calibration. Thanku!