Doosan M0609, Руководство пользователя

Страница: 94 / 190

Doosan Robotics User Manual v1.9 94
7.5.4 Tool Rotation Angle (A, B, C) within Tool Center Point Setting
When configuring the tool center point (TCP), the position and rotation angle based on the flange
coordinates must also be defined. The distance from the default starting point of the flange coordinate
to the tool center point (TCP)in the X, Y and Z directions cannot be set to be greater than 500 mm. In
particular, if the TCP is configured using
Auto Calculate , the calculation is made based only on the X,
Y and Z positions, so it is necessary to enter the rotation angle. The rotation angle can be defined with
items A, B and C, and it is based on the Euler Z-Y-Z rotation method.
The definitions of the coordinate axis expressed with x, y, z and coordinate axis expressed with X, Y, Z
are as follows:
•
Coordinate axis of “Flange Coordinate” (x, y, z): The coordinate axis direction defined at the end
of the flange is identical to the robot coordinate with a robot joint angle of (0,0,0,0,0,0).
•
Coordinate axis of “TCP Coordinate” (X,Y,Z): The coordinate axis is defined at the end of the tool
installed on the e
nd of the flange or working point. The rotation angle of the “TCP Coordinate” is
defined based on the “Flange Coordinate” in the order of 1) to 3) of the following: