Doosan M0609 User Manual page 95

Z
X
Z
X
1) Rotate A degrees along the z axis of the Flange Coordinate
2) Rotate B degrees along the y' axis of the coordinate rotated according to 1)
3) Rotate C degrees along the z'' axis of the coordinate rotated according to 2)
Here are a few examples of configuring the TCP according to the method described above:
X
•
[X, Y, Z, A, B, C] = [0, 0, 100, 0, 0, 0]: General Gripper with Z-direction offset (TCP Coord)
•
[X, Y, Z, A, B, C] = [100, 0, 300, 180, 45, 0]: Left Gripper with 45-degree angle (TCP Coord. L)
•
[X, Y, Z, A, B, C] = [-100, 0, 300, 0, 45, 0]: Right Gripper with 45-degree angle (TCP Coord. R)
Z'
1) Rotated by A
along Axis - Z
A
Y
X'
Flange Coord.
Y
Z
TCP Coord.
Y
Flange Coord.
95
2) Rotated by B
Z"
along Axis - Y
C
Y'
B
X"
3) Rotated by C
Z
along Axis - Z"
TCP Coord.
Y"
Y
X