[Ashe]

    Axis rotation direction is different in real robot and RoboDk simulation

according the picture from this forum positive rotation for Axis-1 is CCW
but in simulation it is in CW direction

Do I miss anything here

your help me understanding it is appreciated

[Vineet]

Hi,

If you download the data sheet for this robot, you can see the axis angles given. See attached pictures from the data sheet and RoboDK.
For axis 1, Clockwise rotation is positive, just like that in RoboDK and goes up to +185 degree and CCW goes up to -185 degree.

Hope this clears your doubt.

[Ashe]

Hi,

If you download the data sheet for this robot, you can see the axis angles given. See attached pictures from the data sheet and RoboDK.
For axis 1, Clockwise rotation is positive, just like that in RoboDK and goes up to +185 degree and CCW goes up to -185 degree.

Hope this clears your doubt.

Hi Vineet,
thank you for your clarification
Following the axis assignment that Jeremy shared (which I have attached before) I was trying to understand why the actual rotation for joint 1/4/6 (simulation and real robot) is mad opposite to DH- parameter definition of roboDk, which I have access to as am using roboDK with professional license

[Ashe]

I found the sense vector defined in RoboDK.

I am curious how do we use that in DH parameter assignment?

[EningeerC]

Hello, has your problem been resolved? I recently encountered a similar issue while using the Robotics Toolbox. I built a 6-axis robot using the Robotics Toolbox, but the rotation directions of joints 1, 4, and 6 differed from those in RoboDK. Comparing it with the actual robot, RoboDK and the real scene were consistent.

[Albert]

You can enter the sense of rotation for each robot joint by following these steps:

1. Double click the robot
   
2. Select Parameters
   
3. Check the option Unlock advanced options.
   
4. Click on Joint Senses.