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+--- Thread: Ethernet linked RoboDK -> Controller show different cartesian coordinates (/Thread-Ethernet-linked-RoboDK-Controller-show-different-cartesian-coordinates)
Ethernet linked RoboDK -> Controller show different cartesian coordinates-mandem-06-16-2018
I have an ethernet connection between RoboDK and my KRC4 controller.
When I select 'get robot joints' in the connection panel the cartesian rotation coordinates displayed are different from those displayed on the smartPAD. This is with or without a tool frame.
I think related is that I am getting singularity errors when I run a linear move on the robot through the RoboDK ethernet connection, even though when I run the same program as a simulation everything goes as planned.
Anyone with any idea what's happening or how to fix this?
RE: Ethernet linked RoboDK -> Controller show different cartesian coordinates-mandem-06-18-2018
Adding some information...
The coordinates according to RoboDK are shown in the first picture
Picture 2 shows the coordinates according to the robot. Position values are the same, orientation values are different
Next shows IpoMode selection as flange
When I change IpoMode to Ext. tool you can see in the final picture the orientation values match up but the position values do not
Problems with attachments so uploaded here:
https://ibb.co/n6bA4d
https://ibb.co/evdJqJ
https://ibb.co/b9k3Pd
https://ibb.co/kUXsjd
https://ibb.co/eyxxHy
RE: Ethernet linked RoboDK -> Controller show different cartesian coordinates-Xiao Y-06-28-2018
For some reason your robot panel shows a setup of 'Staubli/Mecademic' which defines the order of orientation.
By default they should be 'KUKA/Nachi/ABB' as you're using a KUKA robot.
You can use the drop down list to change it back.