Doosan M0609 Reference Manual page 92

No.
5 Load TCP Setting
Obtain PointA - PointD
6
Doosan Robotics Reference Manual v1.5
Item
Sets the information of the Tool currently equipped on the robot
as TCP.
 A probe type Tool is recommended. If a gripper is used, it is
recommended to make measurements with a probe-shaped
item grabbed as in the following image:
 For information about measuring the tool center position, refer
to the Workcell Manager End Effector Management section of
the User Manual.
Obtains the robot pose [x, y, z, rx, ry, rz] of PointA - PointD.
 If the base plane of the robot and the workspace are on the
same plane, the tool center point of the robot is aligned based
on the base axis. Robot poses corresponding to PointA-PointD
are acquired with the aligned axis unchanged using plane lock
and axis lock of the Constraints Motion button in the robot
cockpit. Refer to Robot User Manual - Jog - Setting Screen -
Align according to Base Axis for how to align the base axis with
the TCP end.
If the workspace where the target item located is slanted, unlike
Points
the base plane of the robot, align the tool center point according
to a virtual vector area. Refer to Robot Manual – Jog – Setting
Screen – Align according to Target Point.
 Perform direct teaching of corner points on the checkerboard in
the order of Ⓐ, Ⓑ, Ⓒ and Ⓓ with the end of the robot tool to
enter the coordinates of each point.
 Tap the Move To button to move to the corresponding point.
 Press the Reset button to reset robot coordinates.
 If the end of the tool fails to accurately pinpoint the corner points
of the checkerboard, point deviation occurs.
Description
92