[bcolombie]

When dropping the Kawasaki RS003N robot into the work space, the X and Y axes are swapped from how the robot actually moves in BASE using the pendant.
When modifying the base frame in RoboDK, I cannot get the robot to go to the correct positions when the robot program is created and transferred.

Bob C.

[Albert]

You can customize the rotation of the base by following these steps:

1. Double click the robot
   
2. SelectParameters
   
3. 调整Base frame. In this case, you may need to change the 90 deg rotation around the Z axis shown in the image attached.
   

Contrary to most robot models, some Kawasaki robots have the base frame with this rotation. Can you confirm?

[bcolombie]

Albert, Thank You. The base is rotated 90 Deg. +X is to the right & +Y is forward (from the rear of robot).

BOB C.

[Albert]

Thanks for letting us know. I believe the we we currently have it set in our library is the way you describe:
//www.sinclairbody.com/robot/Kawasaki/RS03N#View3D

Can you confirm if the official version is different from what you experience with your robot?

If you are opening a file directly from your browser to RoboDK, make sure to delete your local copy in C:/RoboDK/Library/.

[bcolombie]

The Kawasaki-RS03N was not in my library file.
Changing the Rot Z parameter corrected the X-Y axes being 90 degrees off.
Now the positive/negative direction of X needs to be reversed. Can't seem to figure that out.

[Albert]

Do you mean that the first image I uploaded shows the correct coordinate system for the base?

If not, do you mean the Z axis is pointing down?

[bcolombie]

The image is correct. Changing the base parameter for [Rot Z] to 90.0 from -90.0 made the X axes +/- match (RoboDK to Kawasaki).
The "Joint Axis Jog" feedback values for X shows a negative value when the robot is actually in positive territory.
The taught targets of the RoboDK seem to send the robot to the correct positions now.