01-30-2023, 11:51 AM

To properly define your base frame we need to locate 3 corners of your table. This will help aligning the robot base and then the robot movements will make more sense when you generate programs.

The robot is installed at an angle facing forward (it looks like 15-30 degrees). This is not negligible and it will have an important impact when defining your coordinate system.

I recommend you to follow these steps:

https://robodk.com/doc/en/General.html#CalibrateFrame

In short, we need the 3 positions of 3 corners of your table (joint values A1-A6 is best). We also need the XYZ values of your TCP.

With the new coordinate system, we can calculate the exact angle of the robot base and place the table coordinate systems with respect to the robot base.

The robot is installed at an angle facing forward (it looks like 15-30 degrees). This is not negligible and it will have an important impact when defining your coordinate system.

I recommend you to follow these steps:

https://robodk.com/doc/en/General.html#CalibrateFrame

In short, we need the 3 positions of 3 corners of your table (joint values A1-A6 is best). We also need the XYZ values of your TCP.

With the new coordinate system, we can calculate the exact angle of the robot base and place the table coordinate systems with respect to the robot base.