Doosan M0609 User Manual page 63

Warning

When changing the relationship between World and Base coordinates, the teaching point of
World Coordinates or user coordinates based on World Coordinates can change. Changes are
only recommended when the actual relationship between World Coordinates and Base
Coordinates are changed.
3
The mounting pose (installation inclination) is displayed on the right center. In general, World
Coordinates describe the work environment from the user's perspective, so the Z-direction of
World Coordinates is in the direction of the ceiling. Since one axis of Base Coordinates is fixed to
the bottom plane of the robot, the relationship between World Coordinates and Base Coordinates
changes according to the robot's installation location/pose. The above figure assumes that the
robot is installed on a wall. In this case, the Z-axis of Base Coordinates is perpendicular to the
wall, which is in parallel to the Y-axis of World Coordinates, and the mounting pose inclination and
rotation are displayed as 90 and 0 degrees, respectively. The relationship between World and
Base Coordinates is defined as the relationship of the Base Coordinates based on World
Coordinates. If there is a predefined layout for the work environment, set the coordinates
accordingly. The values X/Y/Z mean movement, and the values A/B/C mean rotation based on
the definition of Euler Z-Y-Z. If the mounting pose is defined according to the robot's installation
pose, it is appropriate to use the rotation angle of B/C as the mounting pose B/C. However, if the
mounting pose is set using the Auto assumption function, the assumed value may contain a
deviation, so it recommended to use the rotation angle defined according to the layout.
4
Tap the Apply button.
5
Tap the Confirm button.
Note
User programs created using Task Builder and Task Writer after applying the installation inclination
in SW versions earlier than GF020400 must set World Coordinates with the installation inclination
applied when updating to SW versions later than GF020400 and convert all Base Coordinates into
World Coordinates within the user program in order to properly use existing teaching points.
If multiple robots are working in a common work space or if the robot is installed on a moving device
such as a mobile base or linear track, the relationship and teaching point position between the
workpiece and robot base may change. In such environments, World Coordinates, which are easy to
teach work and share, can be set. For more information, refer to 7.4.1 World Coordinates Setting.
When a tool is installed or replaced, the weight of the tool must be configured before operating the
robot. For more information about setting tool weight, refer to Tool Weight Setting.
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