Aligning The Robot Based On A Target Point - Doosan M0609 User Manual

1
Select the Settings tab and select the Default Motion tab.
2
Tap and hold the "Home Position" button to move the robot to home position.

11.3.3 Aligning the robot based on a target point

This a useful function if the workpiece is aligned with the TCP in an axis direction for workpiece
teaching. 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 a virtual vector area:
1
Go to the Set screen and select the Parallel To Target tab.
2
Select the reference coordinates for alignment.
3
Select your desired reference tool axis.
4
Select the Point 1 button and teach the robot.
5
Tap the "Save Pose" button of Point 1.

Do the same for Pose 2 and 3. When the teaching is completed, a virtual vector area is set
based on the three points.
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