Alignment Based On Base Axis/World Axis; Move To Home - Doosan M0609 User Manual

11.3.1

Alignment based on Base Axis/World Axis

When the work item is positioned in the Base/World axis direction of the robot, it is possible to
align the TCP on the workpiece before workpiece teaching. The teaching pose can be configured
in line with the Base/World Coordinates axis, making it is easy to specify a teaching pose. To
perform teaching after locking the pose, use the plane or line locked direct teaching function with
"Cockpit" buttons.
Aligns the robot's TCP based on the base axis.
1
Go to the Set screen and select the Basic Motion tab.
2
Select the reference coordinates for alignment.
3
Select your desired reference tool axis.
4
Select your target direction.
5
Align the axis by holding down the Parallel Axis button.

11.3.2 Move to Home

Moves the robot to the default home position or the user home position configured in Settings on the
main menu.
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