Doosan M0609 Reference Manual page 127

Auto Measure
Place a workpiece on the conveyor in the same way it would be during actual work. Operate the
conveyor and stop the conveyor as soon as the workpiece passes the triggering switch of the
conveyor. Teach the reference point of the workpiece at this moment, and acquire the location of Point
X1 using Get Pose.
Operate the conveyor again and stop it to acquire the location of Point X2 in the same way. Point X is
used to calculate the x-axis of the Conveyor Coordinates. While it is sufficient for X1 and X2, up to four
points can undergo teaching to improve accuracy. Depending on the number of teachings, spread the
position within the range the robot can undergo teaching.
Point Y is used to calculate the y-axis of Conveyor Coordinates, so it is acquired by teaching a
workpiece placed on an X-Y plane to generate a y-axis in addition to Point X.
Acquire a teaching point and press Auto Measure to automatically calculate the Conveyor Detailed
Settings.
Manual Setting
Workpiece location is calculated by applying the Encoder Count increasing in the direction of x on the
Conveyor Coordinates when the workpiece passes the triggering switch. The setting is set based on
the triggering switch, conveyor position and workpiece reference point, and even in situations where it
is difficult to identify the exact position, setting the correct x-axis direction of Conveyor Coordinates will
allow the remaining offset to be accurately entered in the Task Motion of TB/TW, so it is acceptable to
not enter the exact value.
Count/Distance are Conveyor Tracking commands in TB/TW, and entering the Wait command without
Task Motion will result in tracking of conveyor movement from the current position. The user can adjust
it while monitoring the speed trend. If the robot moves slower than the conveyor, reduce the
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