[piotrek]

Hi RoboDK team,
According to kinematics, the flange for DOBOT CR7 and DOBOT CR7A is wrong. In the attachment, you can see that the flange's TCP isn't in line with the flange itself. Please take a look at it.

Best regards,
Piotr

[Sergei]

I believe this difference is due to the fact that you are measuring an imported model when simplification/optimization has already been applied to it

In any case, we'll double-check, since Z offset seems weird

[piotrek]

Also when you rotate only the 6-axis it does not seem to be centred but it shifts during movement.

[Albert]

The flange seems to be off by 10 mm. You can correct this by following these steps:

1. Double click the robot
   
2. Select Parameters
   
3. Enter -10 on the Z axis of the Tool frame. See attached image.
   

Can you confirm if this makes sense?
   

[piotrek]

Yes, it makes sense but doesn't solve the issue.

To properly solve that problem the dimension of "d6" in "robot modification" should be changed to 105 mm (screen 2) like it is in the Dobot documentation (screen 1).

The bigger problem is that the 6-axis doesn't rotate centred as I mentioned in the previous reply. I don't know how to solve that. Please help.

[Olivier]

Let me know if you find any other error in the models I joined, I will update them to the library.

[piotrek]

Now everything looks fine. Thank you very much!

[Albert]

Great, thank you for letting us know.