Collision affect. Is it possible?

ko414du4

Hello all,

I have recently experienced a bizarre incident on site. The robot on site is IRB2600 and it's picking products with 2 different set of recipe. The recipe contains the particular tooldata, object frames and positions depending on the product height. The robot can only be set to pick 1 product during the whole cycle and has to be stopped and PPtoMain to change over. 

I was called to a customer site to see why the robot movement was +-100mm off the usual target on only just one of the 2 recipes. I went there, compare the positioning between the 2 recipes and they were right! I checked the values of the object frames and positions from my last backup and nothing has been changed. To my desperation, I tried restoring the last backup and, to my surprise, everything went back to normal! Both are moving to the position where they're programmed to be. Being curious of the chain of events, I found out from the log that there has been a number of crashes before. Should a crash happened between changing recipes, can this be the reason why only one of them is affected? Perhaps some sort of retained data in the robot background calculation when a collision is triggered??

Any inputs are appreciated! Thank you.