It seems that something is backwards? Since work was done in the arm I am unable to initialize do to Incorrect mounting. If I set the configuration as inverted it works. Also if I flip the arm over and set it “normal” it works? Could we have a signal reversed somewhere?
Is it a CB3 robot you have? An accelerometer in the Tool Flange is used to detect if mounting/gravity has been correctly configured during the initialization of the arm. If you have changed the tool bracket, it must be correctly mounted (by accident, it can be mounted 180 degrees rotated). The connector cable can also be wrongly attached to the PCB, so also be aware of that 