The geometry of the tool might not be
aligned properly with respect to the robot flange (adaptor reference frame)
when it is loaded in RoboDK. The following steps assume that a mistake was made
and the tool was mounted 180 degrees around the Z axis, so the following
correction should be applied:
Select More options in the Tool details window
Enter 180 in the yellow case (Z rotation) of the paint gun geometry, as
shown in the following image. The mouse wheel can be used on top of each case
to quickly update the position on the main screen.
Tip: If the
TCP was defined before this operation, the TCP won’t match the geometry
anymore. To update the position of TCP to the right location we could follow
the steps described at the beginning of this
section (by holding the Alt key or entering the values manually).
Alternatively, we could rotate the TCP around the robot flange by selecting the
Script (custom pose) representation method (as shown in the next image)
and insert the Z rotation pre-multiplying the TCP definition (at the beginning
of the TCP line definition). Note: More
information about how to provide transformations and poses available in the reference frames section.