Doosan M0609 User Manual page 101

With the Zone Margin, the expanded volume from the designated volume with specified points can be
easily configured.
Safety Limits that is overridden in Zone has the priority below.
•
Safety limit overridden inside Zone has priority over the global Safety Limits
•
Safety limit overridden inside High Priority Zone has priority over safety limit overridden inside
Zone.
•
If there are several safety limits for one type of safety function at certain TCP position because of
overlapped Zones, the most restricted safety limit has the priority.
•
If there are several safety limits for one type of safety function at certain TCP position because of
overlapped High Priority Zones, the LEAST restricted safety limit has the priority.
Warning
High Priority Zones have priority over the other Zones and global Robot Limits setting. And If
multiple High Priority Zones are overlapped, the safety function uses the LEAST restricted
safety limit. For these reasons, the size of High Priority Zone should be specified as small as
possible for safety
If Dynamic Zone Enable is selected, that Zone is activated/deactivated according to the designated
Safety I/O Input signal. If the Input is active, then the corresponding Zone is activated. If the Input is
not active, then the corresponding Zone is deactivated, and Robot operates as same as without that
Zone.
Space Limit and Zone Shape

The shapes of Space Limit / Zone are set according to the following:
Item
The shape of Space Limit / Zone is set as a cuboid.
 Enter the lower endpoint (Point 1) and upper endpoint (Point 2) of the cuboid
and tap the Save Pose button.
Cuboid
The shape of Space Limit / Zone is set as a tilted cuboid.
 Enter the reference point (Point 1), x-axis endpoint (Point 2), y-axis endpoint
Tilted
(Point 3), z-axis endpoint (Point 4) of the tilted cuboid and tap the Save Pose
Cuboid
button.
 The three lines (Point 1-Point2, Point 1-Point 3, Point 1-Point 4) must cross
each other at right angles. (a deviation of +/- 5 degrees is acceptable)
Description
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