Doosan M0609 User Manual page 6

10.2.4 Control Box Analog Output Setting ...................................................................................................................... 144
10.3 I/O Test ............................................................................................................... 145
10.4 Modbus Test ..................................................................................................... 146
10.5 Servo On ........................................................................................................... 147
10.6 Zero-Gravity Motion Mode ............................................................................. 148
10.7 Safety Recovery Mode.................................................................................... 149
10.7.1 Using Software Recovery Mode .......................................................................................................................... 150
10.7.2 Packaging Mode Setting......................................................................................................................................... 151
11. Jog Function ......................................................................... 152
11.1 Jog Screen ........................................................................................................ 153
11.1.1 Execute based on Joint ........................................................................................................................................... 155
11.1.2 Execute based on Robot Base ............................................................................................................................ 156
11.1.3 Execute based on World Coordinates ............................................................................................................... 157
11.1.4 Execute based on Robot Tool .............................................................................................................................. 158
11.2 Movement Screen ........................................................................................... 159
11.2.1 Moving with Angle Setting ...................................................................................................................................... 159
11.2.2 Move with Base Reference Coordinates ........................................................................................................... 160
11.2.3 Move with World Coordinates Reference Coordinates................................................................................. 161
11.2.4 Move with Tool Reference Coordinates............................................................................................................. 161
11.3 Setting Screen .................................................................................................. 162
11.3.1 Alignment based on Base Axis/World Axis ....................................................................................................... 163
11.3.2 Go to Home ................................................................................................................................................................ 164
11.3.3 Alignment based on Target .................................................................................................................................... 164
11.3.4 Alignment based on Workcell Items .................................................................................................................... 165
12. Environment Setting ............................................................ 167
12.1 Language Setting ............................................................................................ 167
12.2 Date and Time Setting .................................................................................... 168
12.3 Robot Setting ................................................................................................... 169
12.3.1 Robot Home Position Setting ................................................................................................................................ 169
12.3.2 Cockpit Setting............................................................................................................................................................ 169
12.3.3 Remote Control Setting ........................................................................................................................................... 169
12.3.4 Process Button Setting ............................................................................................................................................ 170
12.4 Change and Disable Password ..................................................................... 173
12.5 User Role Setting ............................................................................................. 174
12.6 Network Setting ............................................................................................... 175
Doosan Robotics User Manual v1.9 6