I realise this might be more of a question for the RoboDK forum (I have posted there).. But just in case someone can help...
I have an ethernet connection between RoboDK and my KRC4 controller.
When I select 'get robot joints' in the connection panel in RoboDK the orientation values displayed in the robot panel are different from those displayed on the smartPAD.
You can see screenshots at these links: https://ibb.co/n6bA4d https://ibb.co/evdJqJ
In my quest to find out what is going on I came across IpoMode in the tool selection menu on the smartPAD. Link: https://ibb.co/b9k3Pd https://ibb.co/kUXsjd
By default it is set to flange.
When I change it to Ext. tool my problem changes slightly - The position values are totally different, and the orientation values are the negative of those displayed on the smartPAD. Link: https://ibb.co/eyxxHy
From what I understand of IpoMode I shouldn't be changing it anyway because I am not using an external tool.. just thought this information might be useful in solving the problem.
It seems the symptom of RoboDK and the controller being out of sync is that I am getting singularity errors when I run a linear move on the robot through the RoboDK Ethernet connection, even though when I run the same program as a simulation only on RoboDK everything goes as planned