[davidturnswood]

If I understood well, you want to adjust your tool and your TCP 2 degrees with respect to the robot flange. In this case, you can move the geometry of your tool (z rotation of 2 degrees). You can also offset your pose by 2 degrees (I recommend you to use the script formula on your TCP to recalculate it).

Can you provide your RDK project file? We can help you better.

Albert,

Thank you very much for your assistance!

I have spent the past 3 or 4 days trying different things attempting to get this to work. In many cases, the simulation looked good, but I didn't understand the relationship between the tool I had added, it's orientation, and the tcp & move geometry command. I had an idea of what I needed to change, but was unsure how to go about it.

What I needed to do was play with the script formula (thank you for mentioning that, I wouldn't have known to use it) and I had to adjust another number on the Staubli/Mecademic option (I actually had two joints needing adjustment - 5 needed +1, 6 needed + 3.4.

I think some sort of video or step by step guide to tool alignment would be very helpful, especially for those of us who don't have access to proper machine shops ;) I tried out Jeremey's video about calibrating the TCP, but that didn't seem to do the trick, although I imagine it likely has made things more accurate for me.

These problems may be very straighforward to someone who has an extensive background in this field, but from the perspective of a hands-on craftsperson (woodturner), I feel may be a good idea to create better documentation to assist those using your software.

Looking forward to showing you what I plan to make with this wonderful software. Here's a snapshot of my 1994 Staubli Rx90.

Thanks to you and Jeremey for sorting this out for me!

David