Robodk documentation pdf RoboDK CNC. The Tool Center Point (TCP) in RoboDK and in the controller must match. This example will show you how to use RoboDK for tank welding simulation. Select Program Events to display special events that need to be taken into account when generating robot programs. Right click your program (Main Program in this example)2. Select Program→ Add Reference Frame Alternatively, select the equivalent button in the toolbar 2. Users can generate advanced laboratory automation programs using a selection of their robot arm, grippers, and linear rails. The vehicle frame has a force beam that prevents easy access from the front to the rear, you need to create two approach targets that allow passing inside the frame. This allows you to simulate and program robots for robot machining. When you invoke File Manager, you get a window like this on your screen: RoboDK Documentation: File Manager Using File Manager (in English). One However, you can load any generic 5-axis toolpath in RoboDK such as APT, NC or G-code files. BobCAD-CAM Introduction; BobCAD-CAM Install; Toolbar. For industrial-scale projects, in-depth simulations, and advanced functionalities, we recommend using the RoboDK desktop application. You can import the entire list of instructions with parameters or export all data using the import/export functions. These limits are detected because the robot makes a radial movement of about 1. Robot Polishing - RoboDK Documentation RoboDK Add-In for Siemens Solid Edge Simulation Speed is a node that shows the actual Simulation Speed and allows the user to overwrite the current Simulation Speed. Then, select Start Measure and the robot will move sequentially through the planned measurements. Tip: You can add W1SET and W2SET instructions with welding parameters using the "Insert code" instruction in RoboDK. Step 4 is important to detect the beginning and end of the test. 5 mm to trigger the start and end of measurements (at the start and end points of the RoboDK supports all ABB robots that are programmed in RAPID language, including PRG and MOD files (IRC5, S4 and S4C robot controllers). Haga doble clic en el acceso directo para iniciar el programa RoboDK. To validate the tip of your probe you simply need to move around a static point and RoboDK will display the accuracy. Doing this in RoboDK VR enables the mixing of your local environment, SteamVR, and RoboDK. Robot setup; Update selected RoboDK prend en charge tous les robots ABB programmés en langage RAPID, y compris les fichiers PRG et MOD (contrôleurs de robots IRC5, S4 et S4C). . Introduction - RoboDK Documentation This example will help you understand the basics of robot machining in RoboDK and how to convert a 3-axis robot machining job to a robot machining simulation and robot program. You can also update all operations in bulk. The C3 Bridge Interface Server must be installed in the KUKA robot control system. One This example will help you understand the basics of robot machining in RoboDK and how to convert a 3-axis robot machining job to a robot machining simulation and robot program. 7 and newer versions benefit from redesigned icons, which can be activated with Tools Option General Use modern icons. With the RoboDK plug-in for Fusion 360, you can easily create a machining project and automatically export the generated path inside RoboDK. Load the Grasshopper example provided with the RoboDK plug-in (3dm file and gh file). Station Node is a node that allows the user to get the current name of the Station in RoboDK. The full station can then be exported for simulation and to generate robot code. Ce document montre comment préparer une station dans RoboDK dans le cadre de programmation Hors-Ligne (PHL) et d’une simulation de robot 6 axes. Toolbar Scale: Proportion of toolbar icons in relation to the current size of RoboDK toolbar icons. Trajectory planning. Une version PDF de la documentation est disponible en téléchargement sur le haut de chaque section. Alternatively, drag & drop a file to the RoboDK main screen to load it. xml). With RoboDK TwinTool calibration you can automatically calibrate the tool center point (TCP). You can select Update to see if RoboDK can find a feasible path using the default settings. 5. To display these statistics, open the robot calibration window (double click the icon Robot Calibration). With the RoboDK integration for BobCAD-CAM software you can easily combine BobCAD-CAM machining software with RoboDK to simulate and program industrial robot arms for robot machining. 3. Select RoboDK Add-In. You can export your RoboDK simulation to Blender to create photorealistic images and animations. It is possible to run the same test more than once under different conditions (different speeds, different rounding/cornering values, different payloads, …) to compare these parameters in the same report. Visit the CAM Add-Ins section of our documentation for more examples on robot machining projects, such as Mastercam, MecSoft/RhinoCAM, Inventor, FeatureCAM or Fusion360. RoboDK also offers dedicated post processors for some controllers to implement this strategy. In hyperMILL/hyperCAD-S you can use the RoboDK plugin to facilitate sending machining jobs to RoboDK. To take these measurements it is required a Faro laser tracker that communicates with a computer. Install the RoboDK CNC add-in. Robot setup; Update selected Fanuc’s FTP server is enabled on recent Fanuc controllers by default. RoboDK Apps are typically Python scripts that use RoboDK Python API and are packaged as standalone files (rdkp files). Once installed, RoboDK Apps can be accessed from the main toolbar or from custom menus or buttons within the RoboDK user interface. If you did not select any reference frame, you can add a reference (select Program Add Reference Frame) and place it under the robot base reference (Drag & Drop in the item tree). RoboDK software integrates robot simulation and offline programming for industrial robots. This documentation is based on the R-30iA Fanuc controller. The metadata is located in the manifest files (core_properties. By default, RoboDK installs Python and a set of sample scripts that allow you to improve simulations. This section shows how to customize the robot setup and the machining toolpath to successfully accomplish robot machining. Alternatively, select the corresponding button in the toolbar. RoboDK supports all Fanuc robot controllers since RJ2, including RJ3, R-30iA and R-30iB. 0 recommended): HTC Vive Tracker 3 On Amazon . Unless a target is selected before adding the instruction, the movement instruction will create a new target and they will be linked. For more information on this, see RoboDK driver for KUKA. RoboDK Documentation: Robots Fanuc Setup Fanucs FTP Server (in English). Open Packaging Conventions Once the calibration is completed you can analyze the accuracy improvement by reading the statistics provided by RoboDK. How to Export a simulation to share them as HTML shareable links using RoboDK for Web, 3D HTML or 3D PDF. The RoboDK package format follows the . The table below provides an overview of the main icons and their new design. Toolbar Area: Position (side) on the main RoboDK window where the App toolbar will be located. RoboDK validera le programme et affichera les problèmes tels que les singularités de robot ou les limites d’axe Sélectionner Shift+F5 pour inclure une vérification des collisions. Add the declaration of the following global variables: Once the path accuracy test is completed it is possible to obtain a PDF report by selecting Make PDF report, from the Path validation window. Un raccourci du logiciel RoboDK sera placé sur votre Bureau lorsque l’installation depuis notre site internet est réalisée (dernière version à jour). User Interface. Robot Welding - RoboDK Documentation This section of the documentation provides an overview of typical operations when you use a Comau robot, such as generating programs from RoboDK and loading them in the Comau robot controller. The version RoboDK 64 Bit v5. Este manual está basado en la versión de Windows de RoboDK. This section shows how you can create a collision-free path between 2 points inside the car frame. You can create a 3-axis positioner by specifying parameters such as flange radius, side and horizontal offsets, height, and colors for the base, beam, and flanges. 3. If you already have RoboDK with the Add-In Manager plugin installed, the only action you need to do is to install the add-in from RoboDK Online Library. The ISO standard “ISO9283: Manipulating industrial robots - Performance criteria and related test methods” describes tests to evaluate the performance of industrial robots. Fill in the Robot IP, Robot port, and FTP user name and password fields if necessary. La Sección Empezar muestra cómo construir un proyecto de fuera de linea (off-line programming) para una aplicación de pintura robótica con RoboDK. New Station will add a new station in the tree. Go back to Fusion 360. Dans cet exemple, un robot Universal Robots est simulé et programmé pour une application générique de peinture robotisée. El ejemplo proporciona una visión general de algunas de las características claves de RoboDK para simulación y programación fuera de línea, incluyendo: The RoboDK plugin has another feature in Fusion 360 that will help you import your cutting path to RoboDK. Browsing the library - RoboDK Documentation This section explains how to determine, diagnose, and fix issues that you might encounter when you use KUKA robot drivers with RoboDK. 11. The File Manager can be invoked in two ways: by using the Connection to Robot window or directly from the Connection menu. This example includes a table and 2 angle irons to show you how you can use RoboDK’s feature to improve your welding paths. py script from the C:\RoboDK\Library\Scripts folder. Select Program Move Linear Instruction to add a new linear movement instruction. If you didn’t select any reference frame, you can add a reference (select Program Add Reference Frame) and place it under the robot base reference (Drag & Drop in the item tree). you can easily load 3D models created in SolidWorks to RoboDK. Open: Directly open the item in your running instance of RoboDK Desktop. In the RoboDK plugin menu, select Load Curve(s). This example is available in the RoboDK library by default as Tutorial-UR-Painting. 10. The guide recommends starting with the included painting tutorial example to learn how to set up a simple project using a UR10 This document provides steps to build a basic offline station in RoboDK for robot programming. Close the Settings window or select OK. The RoboDK Online Library is directly accessible from RoboDK for Web when clicking on the Open online library icon. Requirements: Quest 2 / Quest 3 VR Headset and a VR Capable PC Virtual Desktop + Virtual Desktop Streamer This example shows how to use the RoboDK plug-in for Grasshopper by dividing a surface as a grid of points and following them with a robot for a drilling operation in RoboDK: 1. Note: RoboDK includes over 80 post processors to support over 50 robot manufacturers. You can also double click any sub program to simulate it. It introduces key concepts like 3D navigation, reference frames, toolbars, shortcuts, and getting started with a simple painting robot example. Select AddIns. This section shows how to create the spot welding points on the car frame to move the spot welding gun to. An APT file is used to load the toolpath in RoboDK and automatically sent using a custom BAT file. 5 mm to trigger the start and end of measurements (at the start and end points of the Now you can transfer your sketch to RoboDK by selecting Tools Load CAM project in RoboDK in the Fusion 360 tab. Learn more about example projects in the examples section. Follow these steps to test this feature: You must use a reference target to properly set the “home” position of axis 6. If you are using a gripper mechanism, it is required to add a TCP using “Add Tool (TCP)” that is at the expected position. The RoboDK Toolbar contains graphical icons that allow quick access to frequently used actions in the menu. RoboDK will automatically handle automatic robot program splitting for large programs depending on the post processor you select. Un acceso directo está disponible en el escritorio al instalar RoboDK desde la página web. RoboDK will start and load a sample project with a KUKA robot, one tool (a spindle as Tool 1) and one reference frame (Reference 1). If you have a KUKA robot, you should see the KUKA KRC2 post processor selected by default. El ejemplo proporciona una visión general de algunas de las características claves de RoboDK para simulación y programación fuera de línea, incluyendo: Close the window when the measurements are completed, and the Measurements reference frame will be updated with respect to the robot base frame. RoboDK RRS for Comau (Add-in) The RoboDK RRS for Comau is a specific RoboDK Add-in for Comau robots. While the position of the tool (TCP) and the cutting axis is defined, you have an additional degree of freedom to define when you use a 6-axis robot arm. You can also load any type of file supported by RoboDK or export your project using different formats or methods. File Menu - RoboDK Documentation Tip: If generating a 3D PDF takes too long, it is recommended to make your project as light as possible before exporting it (follow the tips described in the display performance section). 2. This should be compatible with KUKA KRC4 controllers as well. C:\RoboDK\Addins\com. Throughout all RoboDK documentation, clicks on the screen are represented by the following The following example shows how you can program an industrial robot for a laser cutting application. Las versiones de Mac, Linux y Android también están disponibles. Robot calibration requires measurements to be taken from the robot with a measurement system. RoboDK will then transform it into a robot program. Information and statistics about repeatability can also be obtained if the measurements are taken sequentially through the same group of points. Click the Explore button and select File Manager in the context menu. This section shows how you can export a machining job from Mecsoft RhinoCAM software to RoboDK. You can already see the green path on top of RoboDK node is a Node that provides the Actual Version of your RoboDK Software. Once you have a program simulation ready, right click the program and select Export Simulation… to generate a 3D HTML or a 3D PDF simulation. Mixed Reality (MR) in RoboDK refers to replacing the RoboDK background with a live passthrough feed from VR headset. Follow these steps to automatically setup your robot machining project from hyperMILL/hyperCAD-S: 1. Select Measure in the Calibration section to open the robot calibration measurements window. This approach properly defines locations in the GPL project, avoiding unexpected movements of the gripper’s axis/axes. File Menu. Close the window when the measurements are completed and the Measurements reference frame will be updated with respect to the robot base frame. Introduction - RoboDK Documentation Select File Open to load one of the RoboDK station examples provided by default (RDK files). The following video tutorial shows how you can program a robot to follow a 5-axis toolpath for polishing complex surfaces using Solid Edge and RoboDK. You should see the imported sketch in RoboDK. rdk (located by default in C:/RoboDK/Library/). Launch the Han’s controller and connect to the robot. Opening IO Monitor; IO Monitor Edit tab; Blender Export Add-in; Plugins for CAD/CAM . To calibrate the tool (TCP) using TwinTool you need to load the robot in RoboDK and make sure the sensor and the robot are connected. Robot setup; Update selected Note: The Generate robot program option will automatically set the RunMode of the RDK/Robolink connection to RUNMODE_MAKE_ROBOTPROG. Bien définir la carte de collision correctement dans Outils Collision Map (Shift+X) et de spécifier les corrélations objet que vous voulez inclure lors de la The RoboDK API for C# is a RoboDK. Il est aussi possible d’utiliser tout autre programme créé dans RoboDK (comme une ligne droite, un cercle ou un carré). In this case, because we are using the Creaform HandyProbe, you can calibrate the probe using Creaform VXElements software and validate it using RoboDK. L’API Robodk (Application Program Interface) représente un ensemble de routines et de commandes que RoboDK propose à travers un langage de programmation. This section of the documentation provides an overview of typical operations using a Fanuc robot to prepare a new program in RoboDK and transfer it to the robot. RoboDK can also be used to test the accuracy of the robot before and after calibration through ballbar testing or robot milling. Also, when you press F1, RoboDK displays the Help topic related to the item currently selected. Commands: RoboDK API commands that will be executed when the add-in is activated. Exporter une simulation - Documentation RoboDK This example will show you how to use the RoboDK plugin for SolidWorks. 1. You should follow these steps to import a RoboDK program into Han’s Controller: 1. RoboDK for Web is a light version of RoboDK software, suitable for quick simulations, to share your project by exporting your simulations or for those new to RoboDK willing to try its capabilities. RoboDK supports over 600 robots from 50 different robot manufacturers. You can double click the Main Program to simulate the whole robot machining operation. Right click your machining job project from RhinoCAM. Cette documentation est basée sur la version Windows du logiciel RoboDK. Help menu: Allows opening the online documentation (F1), check for updates or set up a license. Export simulation to 3D PDF; Export simulation to Blender Manual Install Il est possible d’exporter des simulations sous format HTML 3D ou PDF 3D ainsi que de distribuer votre projet vers une version simplifiée de RoboDK (RoboDK Viewer). Having a suitable size for reference frames helps grabbing the right coordinate systems, targets, tools or robots and move them to the desired location. It introduces key aspects like the interface, loading examples, adding reference frames and targets, creating and simulating programs, and exporting simulations. Export a Simulation (Ctrl+E) - RoboDK Documentation Tips and Tricks You can get the estimate of the position of an object (2D pose) by using a simulated camera in RoboDK. 3D View: Open the item in RoboDK for Web, a web-based version of RoboDK. The following list shows examples of tools that will create a curve that can be used in a Curve Follow Project: Import Curves - RoboDK Documentation RoboDK CNC. This is possible with the default RoboDK driver for Denso. RoboDK Documentation: search (in English). Follow these steps in RhinoCAM to export the machining job to RoboDK: 1. This includes triggering a tool change, setting the spindle speed in RPM or triggering specific programs on program start or program finish. This section shows basic Shape Add-In functions. Once you have acquired and activated the required RCS modules from Comau, you can start using the RoboDK RRS for Comau Add-in. It demonstrates loading a UR robot, adding reference frames, importing 3D objects, creating a tool center point (TCP), defining targets, and programming approaches, retracts, and the main program. RoboDK can create or obtain curves from a variety of sources. This document mostly provides information related to how to use the online programming features on Denso robot controllers. Load the machining job file in RoboDK and RoboDK should automatically create one robot machining project for each machining operation. RoboDK Documentation: Addin Shape Shapes (in English). For example, we can move the robot by steps of 10 mm selecting the buttons on the right (+Tx, -Tx, …), or we can select Run Test Program to run a hexagonal movement around the current location of the robot. However, if you are concerned about properly protecting your intellectual property, you should explore using other compilation methods such as Cython to create pyd or executable files from Python scripts. This will generate a PDF with some statistics and graphics about the path accuracy, speed and acceleration. This document is a basic guide to the RoboDK documentation. Important: By compiling your scripts, you can easily obfuscate the source code of your application. This section shows how you can calculate and display the cycle time estimate of the spot welding simulation. You can right click one or more programs and select Generate the robot programs to generate or update the robot programs (files) for your robot controller. install the add-ins. C# programs can be generated offline using the same C# code used to simulate the robot (Offline Programming). You can optionally model the cell by adding the 3D models of objects and tools. Select the edges of the four big circles as shown in the image below. RoboDK TwinTrack requires a 6D measurement system and a handheld probe or a handheld manufacturing tool that allows you to mimic the manufacturing operation with your hands. This documentation is based on the IRC5 ABB robot controller. Select Check for Updates… to check if an update is available. This example is available in the RoboDK Getting Started with RoboDK 4 1. Once you have a valid simulation sequence for your spot welding application you can generate the program with just a few clicks. Troubleshooting - RoboDK Documentation KUKA robots Furthemore, RoboDK also supports online programming for RC7 and RC8 Denso controllers. Cette documentation est basée sur le contrôleur de robot IRC5 ABB. The File Manager will automatically determine which protocol to use based on the driver’s name. welding\WeldingAddIn\models Tip: If you add your own path element model, you can check one of the supplied models to see how to properly place the path element relative to the world coordinate system: The RoboDK add-in for BobCAD-CAM allows you to quickly set up robot machining projects directly from BobCAD-CAM software. You can generate RoboDK for Web public links, 3D HTML and 3D PDF documents following these steps: 1. In RoboDK, Right-click the program you want to import and select Generate Robot Program as…. Let's assume that you need to spot-weld the front and rear part of the car frame. This section includes useful references related to post processors. Tip: Select Tools Toolbar Layout Set Default Toolbar to set up the default toolbar. Details: Open a new tab with more information on the item. Item class (similar to Python’s Robolink. The RoboDK Library can help you easily find and download your robots, look for examples, install addins or learn more about how to configure your post processor to generate program for your controllers. Make sure to delete the previous path, in this example Path2. Right click on your Job. Mat) for matrix operations to operate with pose transformations. Industrial robots are highly repeatable, but not accurate. Export simulation - RoboDK Documentation General Tips You can manually import robot programs generated from RoboDK to your Han’s robot controller. Most machining or manufacturing operation involve a 5 axis constrain. Deliver solutions for automated manufacturing, from robot machining applications to pick and place. To install a RoboDK Add-in, please refer to the Add-in section of the documentation. Now you will need to give RoboDK an orientation for the Finally, select Make PDF report to generate a PDF with some statistics and graphics about the path accuracy, speed and acceleration. The following list of hardware components allow you to build a custom probe to be used with RoboDK TwinTrack. This means you can simulate and program your robot offline only with your measurement system before you have access to the real robot. 5. RoboDK 5. Des versions pour Mac, Linux et Android sont aussi disponibles. This document provides a basic guide to using RoboDK software for robot simulation and offline programming. 4. The RoboDK documentation is based on the HTML or 3D PDF. Anatomy of a RoboDK Package - Add-in Manager A RoboDK Package is a RDKP file that contains one or more RoboDK add-ins, together with the metadata RoboDK uses to classify and. xml and manifest. Select Curves in the open menu. RoboDK can be used to calibrate the robots as well as to generate accurate robot programs (this includes filtering the programs and using RoboDK’s offline programming engine). Older or newer versions may be partially supported as well. This example will help you understand how you can configure robot machining settings in RoboDK and how to convert a 5-axis robot machining job to a robot machining simulation and robot program. Download: Download a local copy of the item. Tip: If generating a 3D PDF takes too long, it is recommended to make your project as light as possible before exporting it (follow the tips described in the display performance section). The next steps are to manually set up the main program that will handle the robot movements: 1. Introduction - RoboDK Documentation The same procedure that is used for position accuracy validation during robot calibration can also be used for position accuracy testing. In other words, it is possible to programmatically generate the vendor-specific program instead of simulating it if the Python program is being executed outside of RoboDK’s GUI. Blender is a free and open-source 3D animation and rendering software. RoboDK Add-Ins for CAD/CAM Software; RoboDK Plugin for BobCAD-CAM. RoboDK Documentation: search (in French). This means the robot movements will be simulated in RoboDK. The guide explains how to load robots and files, add reference frames and programs, simulate programs, and generate code for the robot controller. You can then make the robot move to this home target between each machining operation by right clicking the first program call instruction and selecting Add Instruction Program call instruction. When the ballbar test is completed, a PDF report is obtained (as shown in the following image): The report shows the ballbar readings in mm (Y axis on the left) for the clockwise and counter clockwise movements (blue and red lines respectively) with respect to the time in seconds (bottom X axis). RoboDK’s machining project allows you to convert any generic 3 axis or 5 axis manufacturing operation to a robot simulation and a robot program. Item class API), and other tools for robotics such as a Matrix class (RoboDK. Getting started with Robot machining - RoboDK Documentation La Sección Empezar muestra cómo construir un proyecto de fuera de linea (off-line programming) para una aplicación de pintura robótica con RoboDK. You can easily add time estimation to your program by just loading the CycleTimeDisplayAll. This example includes a tank sample model and a robotic cell with an ABB welding robot paired with a single-axis positioner. Install the RoboDK CNC add-in; RoboDK CNC User Interface; Workflow Example; IO Monitor Plugin. This section covers the following topics: RoboDK Documentation: General (in English). Finally, select Make PDF report to generate a PDF with some statistics and graphics about the path accuracy, speed and acceleration. Select Export Simulation… Help menu: Allows opening the online documentation (F1), check for updates or set up a license. Select the program you would like to generate for your robot by right-clicking on the program and selecting Generate robot program. RoboDK Documentation: OPC UA Nodes ExOPCUANodes (in English). You can create a tilt turntable by specifying parameters such as flange radius, vertical and horizontal offsets, base height, and colors for the base, beam, and flange. You’ll see a window with the robots, tools and examples available in the library. See section previous section Gripper Simulation on how to properly define gripper instructions compatible with the post processor. One HTC Vive Tracker (any version supported, 3. app. The RoboDK API allows you to customize the simulation as much as desired. RoboDK Documentation: Post Processors Reference (in English). Note: RoboDK welding commands apply to the moves that follow them, but AS-language welding commands set the welding parameters for the moves to the positions specified in those commands. Double click the reference frame (on the tree or on the 3D geometry on the main screen) to enter the This document provides a basic guide to using RoboDK software for robot simulation and offline programming. En appuyant sur F1, RoboDK affiche l’aide en fonction de la sélection. RoboDK integrates with Python and by using a sample script or using the RoboDK API you can improve the result of your simulation. Sélectionner Chercher des mises à jour… pour vérifier si une mise à jour est disponible. Aide (F1) ouvre cette documentation sur internet. Introduction - RoboDK Documentation Selecting help in RoboDK opens this documentation online. One Este documento es un manual básico de RoboDK. The robot cutting toolpath is defined using the RoboDK Add-In for Autodesk Fusion. Précision de trajectoire - Documentation RoboDK ISO9283 Performance Testing Choose a suitable postprocessor and check the generated program with welding commands: The File menu of RoboDK allows you to open and save RoboDK projects. L’API RoboDK vous permet de programmer n’importe quel robot en utilisant l’un des langages de programmation pris en charge, tels que C#, Python ou C++. You can use the teach by demonstration features without a real robot. You can check the details of each Node from the nodes section. La section Premiers pas avec RoboDK montre comment réaliser un projet simple en mode hors ligne, pour une application de peinture robotisée en utilisant un bras robot UR10. Apps (Add-ins) can be easily shared among different computers. When the test is done, RoboDK will show the result of the test and will ask the user to save a report in PDF format. The RoboDK Library is library that offers a collection of robots, examples, tools, external axes, add-ins and post processors. The File menu of RoboDK allows you to open and save RoboDK projects. Close the window when the measurements are completed, and the Measurements reference frame will be updated with respect to the robot base frame. 23031 was used in this example. robodk. RoboDK supports the Brooks PreciseFlex robots using GPL (Guidance Programming Language). cs source file that contains the RoboDK class (similar to Python’s Robolink class), the RoboDK. Once you have a path you can double check if there are any collisions and make sure you properly defined your collision map. This means you can program any robot arm supported by RoboDK. Once you have a simulation/program ready in RoboDK you can easily export it as a shareable RoboDK for Web link, as a 3D HTML or 3D PDF. Therefore, the accuracy of an industrial robot can be improved through robot and tool calibration. A library of robots is available online and you can access directly from RoboDK software. Linear Move. Double click on Laser cutting part v2 Settings to open Robot Machining Project. The angle offset will be the rotation around the Z axis of the tool flange needed to best fit the measured TCP (X,Y,Z) with the known TCP reference.