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Robot Euler Angle
#1
After Speaking with Denso the Euler angle is wrong.  The Y-axis is flipped. (green arrow should be pointing in the direction of the locating pinhole). Is there a way to change this? This would be the reason that my .RDk works fine when ran through RoboDk but move to Wincaps the TCP is flipped.

I have found this information but when I change the Euler angle type the direction on the flange does not change.

https://robodk.com/blog/robot-euler-angl...0rotations.


Attached Files Thumbnail(s)
   

.rdk   Calibrated station full dove tail.rdk (Size: 7.51 MB / Downloads: 53)
#2
Can you show us a picture of the flipped TCP in Wincaps?
#3
It would also be great if we can see the the following in the same picture for the home position:
  1. Robot joint values
  2. Cartesian position displayed by the controller
  3. Reference frame of the base and the robot flange (without any tool or TCP)
#4
Hello Oliver and Albert, 
Thank you for your responses, according to John Manalac at Denso NA  the Robot Euler should be a rotational order is Rz, Ry, Rx.  The  Denso is currently set to Generic Rx, Ry, Rz. Hopefully, these photos are everything you are asking for.  

As I also posted in a different post before I understood this problem, I commented how the exported RoboDk code needs to be altered so that the tool is oriented in the correct direction.

RoboDk TCP 
Tool 2, P(-150.340,2.776,95.024,90.000,0.000,-90.000)

Denso Wincaps edited TCP 
Tool 2, P(150.340,2.776,95.024,90.000,0.000,90.000)

Thanks in advance,
Austen


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#5
From what I can see, the flange reference is rotated 180 degrees.
I added an 180 degree rotation to the flange reference to match the version in Wincaps.

Also, the Euler angles can be changed to Epson/CRS to match the Euler rotation order of Rz, Ry, Rx.

Let me know if that fix the issue.


Attached Files
.rdk   Calibrated station full dove tail.rdk (Size: 7.51 MB / Downloads: 89)
#6
Hello @Olivier

I was able to find out how to rotate the tool in the advanced parameters before I saw this message. Thank you for responding and I'm glad that it was the same process.   It fixed all my TCP issues and I was able to calibrate and print properly.\

Thank you! 

Austen


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