10-10-2025, 08:59 PM (This post was last modified: 10-10-2025, 09:13 PM by PhzyksDoesRobots.)
If the External Axis is Linked, Calibration Ball Coordinates sent to Leica make seemingly or little to no sense, likely obscure coordinate transform we currently do not understand. If we unlink the external axis, the robot controller and external axis are sent coordinates of preceding columns of the Calibration matrices as commanded J7 moves.
It must be possible to calibrate a robot with an external axis using the RoboDK software suite with the Calibration software, correct? We are finding that something strange occurs in our file when we attempt this.
When calibrating a robot arm mounted on a linear track, I recommend you to remove the synchronization and perform the robot calibration for a fixed position of the rail. The reference frame of the laser tracker should be placed automatically with respect to the robot base when you follow the robot calibration procedure.
Can you send us the RoboDK project file? We can better take a look.
10-10-2025, 09:33 PM (This post was last modified: 10-10-2025, 09:33 PM by PhzyksDoesRobots.)
Okay, but when we unlink the 7th axis the next value column is still sent to the external axis. I am able to disable the 7th axis servos (and increase joint limits to massive bounds) and run the calibration throughout, but we were worried this would affect the generated calibration.
To properly remove the 7th axis from your scheduled measurements you should export the measurements as a CSV file, open it in a spreadsheed like Excel and remove the 7th column. You can then reimport the measurements in your calibration project.
I attached your project with this edit and I removed the synchronization with your rail for robot calibration purposes.
