Doosan M0609 User Manual page 226

2. If error "2.9015" occurs sporadically in the teach pendant

Doosan Robotics User Manual v2.6.1
◼ If direct teaching does not operate properly even the tool weight and weight center
point settings are correct
◼ If the robot moves too fast or applies too much force when direct teaching is
attempted
◼ If control in a specific direction is difficult when direct teaching is attempted
◼ If collision detection occurs frequently while the collision sensitivity is set to the
default setting
◼ Error 2.9015: The external force of the robot tip has exceeded the safe range.
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