[davidturnswood]

You can modify the DH parameters and offset the joints zeros by :

1. Double click the robot.
2.点击参数。
3. Unlock advanced options.
4. Modify the joint offset from the theta(deg) column.

That's a very good point. Right now, I can't try this because I use the free trial version in order to evaluate RoboDK in our pedagogic context ... and robot parameters are not avaible.

Thank you for your reply

Benoit,

I've built a new model for my older Rx90 (system is from 1994), so NOT Rx90B, as is currently available. I can't guarantee it is perfect, or identical to your machine, but I have a feeling it will be a lot safer and work better for you than what is currently in the library.

Here's a link:https://www.davidturnswood.com/tmp/Rx90_...202000.rdk