General Tips
Some robots have two joints coupled together, which means that two of the joints of the robot are dependent. For instance, Fanuc robots have joint 2 and joint 3 linked together.
Follow these steps to couple the joints of your robot in RoboDK:
1.First, double click on the robot to open robot panel.
2.Click on Parameters to open the Robot Parameters tab.
3.Check the Unlock advanced options box.
4.Click on Joint Senses to open the Joint axis sense tab. The first 6 values represent the joints turning direction and the last value is the coupling of joint 2 and 3. Change the 7th value to -1 to link the joints. A new tab with the coupling joint limit polygon will open, you can edit the limits to prevent the robot from colliding with itself.
