[leonardodo]

I've tried simulating some Yaskawa robots such as the HC10 cobot, but found out its base reference has some offset with respect to the station coordinates system. As an example here's a picture with an ABB robot, with its base reference positioned where it's expected, and the Yaskawa HC10 with its base frame with a higher position on the Z axis.

   
Is it a bug or was it intended when creating this particular model? How can I fix this? I'd like the robot base z position to be at zero.

[Sergei]

This is not an error. The location of the base on J1 at the J2 level is typical for some brands of robots such as Yaskawa (Motoman) or Fanuc.

[leonardodo]

Thanks. I had no clue about that.