Alignment Based On Workcell Items - Doosan M0609 User Manual

6
(Optional) To set the TCP direction and position together, press the "toggle" button of Point 4 ,
move the robot to the desired position and tap the "Save Pose" button.
7
Tap and hold the Align Axis button to align the axis.

Place the 6-axis head 150 mm above the target in the Z-axis direction.
11.3.4

Alignment based on Workcell Items

Aligns the robot TCP based on the Workcell item.
1
Select the Setting screen and select the Alignment based on the Workcell Items tab.
2
Select the desired item from the Workcell Item .
3
Tap and hold the Align Axis button to align the axis.
Note
Alignment direction is determined based on whether the instruction order for the three points
instructed from the Workcell item is clockwise or counter-clockwise. [Refer to Figure below]
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