This section explains how you can update the kinematic parameters (DH table) on the robot controller after calibrating the robot using RoboDK’sCalibration and Performance package.

Modifying the controller DH parameters will impact all programs manually created on the controller. Keep a copy of the original DH parameters in case you would like to revert back to the controller factory settings.

1.In the calibration window, open theCalibration parameters.

2.Select Geometric simplified.

3.Run a calibration sequence orUpdatean existing one.

4.Retrieve the robot calibrated DH parameters. In the Robot panel and select Parameters. Then select Export Table.

5.Make sure to use theAccuratekinematics. TheNominalone can be used to compare with the controller default DH parameters.

6.Use theDanavit Hartenberg Modifiedmodel to modify your controller parameters.

7.On the robotteach pendant, open theSystem variables->$PARAM_GROUP[1].

8.Find the$DH_Aand$DH_Dparameters.

9.Modify the DH values with theaanddvalues from theExport Robot Kinematicswindow.