ROBODK AR4 Direct Control

ROBODK AR4 Direct Control and Model Drawing using G-Code, ROBODK Home Return and Initial Position Control using Python

I want to issue commands using X, Y, Z, Rz, Ry, and Rx coordinates in other software, but I encounter issues with calculation formulas. Additionally, no other robots utilize the UR coordinate system for machining, and the generated code does not match the actual movements, making it difficult to use for machining.

It is difficult to use for machining that requires only precise movements. Currently, I am processing all movements using joint commands.