[bkanzelmeyer]

I have manually created a program for our UR10e robot using Polyscope on the teach pendant that works excellently. We execute several G-Code toolpaths within, using remote routers (Remote TCPS). I am attempting to recreate this program in RoboDK. I have entered into RoboDK all the RTCP positions and targets as they are indicated in the robot program. However, when I move to a target in RoboDK, I notice that the joint positions are not the same as they are on the actual robot; some off by several tenths of a degree; others as many as 6 to 8 degrees. (I have checked all the various Change config. options available). Is there a way to calibrate RoboDK to precisely reflect the positioning of the actual robot program, which I assume will be necessary to properly execute it? I am concerned that I will not be able to create a program offline that runs accurately on the robot without considerable tweaking afterwards, to align it correctly with the remote TCPs and/or the Base.

Does anyone have thoughts or suggestions?

Thanks,
Bruce