Pally General - Coordinate system
Pally uses the tool connector on the robot to define the coordinate system. The tool connector should always point in the direction of the conveyor.
When you do it like that, the Y direction always follows the direction of the conveyor, and the X direction is across the conveyor. Independent of the direction of the conveyor (front, left or right), the coordinate system will always follow the conveyor. Therefore, if you rotate the conveyor so that it comes from the left, you also rotate the coordinate system accordingly.
Front
Right
Left
The tool connector should always point down the conveyor. For Doosan, the correct connector is the X2 tool connector.
When the connector points down the conveyor, the length and width of both product and gripper are in the same direction.