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Motoman ES165 3d model

Does anyone have a 3d model of an ES165. I need to generate an arm for an ES156N with is not in RoboDK library. I am having trouble with my project with axis 6. The project work fine in simulation using the ES165D but when I run the program on the robot J6 does not stay perpendicular to to work plane, it rotate about 20 deg. Appear as if it does not follow the TCP.

I sent you an email earlier today.
There's something a bit odd with your ALL.PRM file, so let address that first.
If this doesn't work as expected, the rest won't follow.

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