Kawasaki X and Y axes are wrong- Printable Version +- RoboDK Forum (//www.sinclairbody.com/forum) +--Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: General questions about RoboDK (//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK) +--- Thread: Kawasaki X and Y axes are wrong (/Thread-Kawasaki-X-and-Y-axes-are-wrong)

Kawasaki X and Y axes are wrong-bcolombie-08-31-2022 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. RE: Kawasaki X and Y axes are wrong-Albert-08-31-2022 You can customize the rotation of the base by following these steps: Double click the robot SelectParameters Adjust theBase 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? [attachment=3680] RE: Kawasaki X and Y axes are wrong-bcolombie-08-31-2022 Albert, Thank You. The base is rotated 90 Deg. +X is to the right & +Y is forward (from the rear of robot). BOB C. RE: Kawasaki X and Y axes are wrong-Albert-08-31-2022 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/. RE: Kawasaki X and Y axes are wrong-bcolombie-08-31-2022 Kawasaki-RS03N不在我的库文件。 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. RE: Kawasaki X and Y axes are wrong-Albert-08-31-2022 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? RE: Kawasaki X and Y axes are wrong-bcolombie-08-31-2022 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.