[Adegrenier1]

After Speaking with Denso the Euler angle is wrong. The Y-axis is flipped. (green arrow should be pointing in the direction of the locating pinhole). Is there a way to change this? This would be the reason that my .RDk works fine when ran through RoboDk but move to Wincaps the TCP is flipped.

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I have found this information but when I change the Euler angle type the direction on the flange does not change.

//www.sinclairbody.com/blog/robot-euler-angl...0rotations.

[Olivier]

Can you show us a picture of the flipped TCP in Wincaps?

[Albert]

It would also be great if we can see the the following in the same picture for the home position:

1. Robot joint values
   
2. Cartesian position displayed by the controller
   
3. Reference frame of the base and the robot flange (without any tool or TCP)
   

[Adegrenier1]

Hello Oliver and Albert,
Thank you for your responses, according to John Manalac at Denso NA the Robot Euler should be a rotational order is Rz, Ry, Rx. The Denso is currently set to GenericRx,Ry,Rz. Hopefully, these photos are everything you are asking for.

我也贴在另一篇文章before I understood this problem, I commented how the exported RoboDk code needs to be altered so that the tool is oriented in the correct direction.

RoboDk TCP
Tool 2, P(-150.340,2.776,95.024,90.000,0.000,-90.000)

Denso Wincaps edited TCP
Tool 2, P(150.340,2.776,95.024,90.000,0.000,90.000)

Thanks in advance,
Austen

[Olivier]

From what I can see, the flange reference is rotated 180 degrees.
I added an 180 degree rotation to the flange reference to match the version in Wincaps.

Also, the Euler angles can be changed to Epson/CRS to match the Euler rotation order of Rz, Ry, Rx.

Let me know if that fix the issue.

[Adegrenier1]

Hello @Olivier

I was able to find out how to rotate the tool in the advanced parameters before I saw this message. Thank you for responding and I'm glad that it was the same process. It fixed all my TCP issues and I was able to calibrate and print properly.\

Thank you!

Austen