Cause:

• Program error (arithmetic processing, etc.).
• Teaching operation error.
• Peripheral equipment is offset.
• There is a setting error in the origin position data.
• The origin position data has been lost(battery life, etc.).
• Origin positions are offset(the arm was moved while the power supply was OFF, etc.)
• Connecting parts have come loose.
• Belt teeth have been skipped.
• Increased backlash from the reduction gear.

Measures:

• Check the positioning data in the area where the positioning has become offset.
• Check the peripheral equipment and the robot's connecting parts(hand, robot installation section, etc.)
• Check the remaining time on the robot battery's life.
• Check the position of the origin positions.
• Check the condition of the belt.
• Check whether there is any nearby interference, etc.