04-30-2021, 01:51 AM
Hi Marco,
I'm sorry I took so long to get back to you. To export the robot kinematics for your Siemens Sinumerik controller you should first select theGeometric Simplifiedoption when you calibrate the robot. This will calibrate the link lengths that are non zero and the joint offsets (mastering). This will work regardless of the DH convention you use and it should still be able to improve accuracy.
You can see the DH or DHM table by double clicking the robot and then select Export table. The Export table option is available in the Nominal and Accurate section of parameters.
When you use your own Siemens Sinumerik controller, the zero position of all axes may be far from the mechanical zero, so just mastering all axes properly may be enough for your application. Note that RoboDK by default calibrates many robot parameters and you should not export the kinematics unless you select the subset of parameters that you are planning to export to your controller.
Alternatively, you can simply generate accurate robot programs from RoboDK (filtered) without having to change the robot controller parameters. Accuracy will be better as all the parameters can be taken into account.
Albert
I'm sorry I took so long to get back to you. To export the robot kinematics for your Siemens Sinumerik controller you should first select theGeometric Simplifiedoption when you calibrate the robot. This will calibrate the link lengths that are non zero and the joint offsets (mastering). This will work regardless of the DH convention you use and it should still be able to improve accuracy.
You can see the DH or DHM table by double clicking the robot and then select Export table. The Export table option is available in the Nominal and Accurate section of parameters.
When you use your own Siemens Sinumerik controller, the zero position of all axes may be far from the mechanical zero, so just mastering all axes properly may be enough for your application. Note that RoboDK by default calibrates many robot parameters and you should not export the kinematics unless you select the subset of parameters that you are planning to export to your controller.
Alternatively, you can simply generate accurate robot programs from RoboDK (filtered) without having to change the robot controller parameters. Accuracy will be better as all the parameters can be taken into account.
Albert