Doosan M0609 User Manual page 44

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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 change according to the robot's installation location/pose. The above figure
assumes that the robot is installed on a wall. In such 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
Coordinate 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 automatic
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
5
Tap the
Note
User programs created using the 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
Doosan Robotics User Manual v1.7
Apply button.
OK button.
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