Hello,
I have a DX-200 MH24 robot that uses a Shift ON to rotate 120 degrees. I'm using Shift ON TF P-XXX to get it to rotate around that tool. However I noticed the robot doesn't quite rotate perfectly. My start position and end position will have the same X, Y and Z co-ordinates as it should but I can see that the robot is moving by a few millimetres. I measured the tool and the tool frame is set up correctly. Could this be a problem with the calibration of the robot?
Another possibility is the tool is set up to the middle of the robot gripper (material handling robot) but the part that it picks up sits an inch or so below the gripper. Does the tool frame need to be set up for the part or to the centre of the gripper to make it orientate correctly?
Thanks