I am having issues with the waypoints in the program. I have captured the robot tcp position and the joint position and they all read fine up until 4 or 5 decimal places but the robot itself is way off of where it should be. The fixture has been secured and is not moving, the robot base is secured and has also been measured and is not moving. Is it possible that there is a brake that is slipping over time and not registering in the encoder? We are using this robot with a visumatic screwdriver. I notice that if the robot sits idle over the weekend then the z direction changes drastically when started back up put the position reads the same.