[Consuelo]

Hi! I am trying to generate a program for a UR3 having a second frame (the first is the robot base) but the script generated does not considere the second frame for the coordinates.

The file generated (having the robot base as frame) is something like  
...
  # Main program:
  # Program generated by RoboDK v5.1.3 for UR3e 
  # Using nominal kinematics.
  # set_reference(p[0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000])
  movej([0.857440, -2.431977, -0.887516, -2.116927, 1.291165, 2.534724],accel_radss,speed_rads,0,0)
  movel(p[0.100000, 0.110000, 0.050000, 0.000003, -2.722227, 1.047786],accel_mss,speed_ms,0,0.000)
  # End of main program
end
....


And the file generated (having the second frame as reference)
...
  # Main program:
  # Program generated by RoboDK v5.1.3 for UR3e
  # Using nominal kinematics.
  # set_reference(p[0.300000, 0.100000, 0.100000, 0.000000, 0.000000, 0.000000])
  movej([0.857440, -2.431977, -0.887516, -2.116927, 1.291165, 2.534724],accel_radss,speed_rads,0,0)
  movel(p[0.100000, 0.110000, 0.050000, 0.000003, -2.722227, 1.047786],accel_mss,speed_ms,0,0.000)
  # End of main program
....

which is basically the same target for the MOVEL instruction

I cannot find my mistake
I really appreciate your help... thanks

[Consuelo]

Also, I would like to know how to solve the error below after loading the url file to correct kinematics

Python script failed returning 1
Traceback ...
File...
dh_mat = Mat([dh_alpha, etc
NameError: name 'Mat' is not defined

thanks

[Jeremy]

Hi Consuelo, 

Can you update RoboDK and try again. 
If it doesn't work, use this post-processors. 

https://robodk.com/doc/en/Post-Processor...tProcessor

Jeremy