Table calibration
Table calibration function is available from assembly view. Finish editing mechanism by clicking Apply or Cancel buttons to see all mechanisms assembly.
Robot has a Base and TCP coordinate systems. It is necessary to specify User Coordinate System position relative to Robot Base Coordinate System.
Hold Left Ctrl key to show all Coordinate Systems in assembly.
How to calibrate table
Select table using left mouse button to show Transformation panel on the right side of screen. Select wanted User CS as Target and select Robot Base CS at Relative combobox. Now you can see User Coordinate System position relative to Robot Base Coordinate System in the Move and Rotate fields. Enter correct values to finish calibration.
Use Robot's User CS calibration function to obtain accurate values
Quaternions, Radians and Euler angles
Some robots (such as ABB) use quaternions instead of euler angles. For this kind of robots MachineMaker can show quaternions fields. You can switch to Euler angles if you prefer to use human-friendly Euler angles.
MachineMaker will automatically detect what you are trying to use table calibration and will switch rotation mode to the correct value. You can switch it back to the Euler angles without loosing your data.
MachineMaker will promt using quaternions only for robots which support it (like ABB).