Aligning The Robot Based On A Workcell Item - 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
Align the axis by holding down the Parallel Axis button.

Place the 6-axis head onto the 150 mm point on the z-axis of the virtual vector area.

11.3.4 Aligning the robot based on a workcell item

Aligns the robot's TCP based on a virtual vector area.
1
Go to the Set screen and select the Alignment based on the Workcell Items tab.
2
Select the desired item from the Workcell Item options window.
3
Click 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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