in our company we have a customized Comau robot where the controller is from Siemens. At this moment the generated values under "Tool Frame with respect to Reference Frame" in RoboDK do not match the values shown on the real robot (translational part is correct but rotational part not). I have tried all configurations (Fanuc, Stäubli, ABB, etc ) on the list but none of them is correct. So I would like to ask how can I configure it myself? Which information is needed from the Siemens transformation in order to do this configuration?
Thank you very much in advance!
Could you give us a bit more info here.
What Comau model are you using?
What joint values are you at?
What do you see in RoboDK (position)?
What do you see on the controller (position)?
Can you join your .rdk station to that thread?
Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel.
First, if you use the base of your turntable as the active reference frame and a TCP = [0,0,0,0,0,0] you end up with the same cartesian values you found on your controller.
For the rotation representation, it will depend on which flavor of Euler angles Siemens decided to use. Could be X,Y,Z or X,Y',Z'' or Z,Y',X'' or ... there is many possible combinations.
It can also be that the robot controller considers a rotation of your external axis base or something like that.
Can you pull out from the controller the known position and rotation of the external axis? If so, what does it look like?
Setting up an external axis in a way that the virtual world matches the real world can be a bit tricky at first.
Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel.