Doosan H2017 - Page 115

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1) Rotate A degrees along the z axis of the Flange Coordinate
2) Rotate B degrees along the y’ axis of the coordinate rotated according to 1)
3) Rotate C degrees along the z’’ axis of the coordinate rotated according to 2)
Here are a few examples of configuring the TCP according to the method described above:
• [X, Y, Z, A, B, C] = [0, 0, 100, 0, 0, 0]: General Gripper with Z-direction offset (TCP Coord)
• [X, Y, Z, A, B, C] = [100, 0, 300, 180, -45, 0]: Left Gripper with 45-degree angle (TCP Coord. L)
• [X, Y, Z, A, B, C] = [-100, 0, 300, 0, -45, 0]: Right Gripper with 45-degree angle (TCP Coord. R)
Z
Z
Z
Z’
Z”
Y”
X”
X
X
X
X’
Y
Y
Y
Y’
A
B
C
3) Rotated by C
along Axis - Z”
Flange Coord.
TCP Coord.
1) Rotated by A
along Axis -Z
2) Rotated by B
along Axis -Y
Z
X
Y
Flange Coord.
TCP Coord.