Vertical offset#
A 24 mm vertical difference can result from comparing the physical mounting plane with the upstream reference base. Apply the mounting transform from Read the coordinate frames.
Tool position differs from flange position#
The flange frame and TCP differ by the gripper installation. The current flange-to-TCP vector is (0, 0, 116.7) mm. Compare the same endpoint.
Small orientation or position discrepancy#
The reference preserves upstream literals, including 1.5708 and 3.1416. Replacing them with exact multiples of π changes the transform. Also check radians versus degrees and parent-local versus world coordinates.
Joint limits do not establish clearance#
The copied joint limits are kinematic inputs. They have not established Bolte full-travel collision clearance, cable-fatigue limits, or qualified operating reach.