[Albert]

You need to provide the pulses/degree of your robot joints. This should be automatically extracted when you load the ALL.PRM file in a RoboDK station with your Yaskawa/Motoman robot loaded in your RoboDK project.

More information about entering the correct pulses/degree ratio here:
//www.sinclairbody.com/doc/en/Robots-Motoman...omanPulses