@chris-annin I think I found the problem. The L10 pulleys have too much play (rotational). I think the keyhole is too wide. Could me my fault. I can'...

@chris-annin No the arm did not move. I already did the angle gauge thing because that is mentioned in the manual. But then I couldn't get J3 to get ...

I think I can explain the off angle. I had to replace the J2 home switch because of a crash where the robot kept on moving and crushed the switch. I g...

OK I did that. Calibrated the robot (I think this is required to get all the zero coordinates). Loaded and ran my picker program. It was ...

@chris-annin Hi Chris, see my reply above.