Doosan M0609 User Manual page 246

A.5 A0509, A0509S
Parameters
J1 (degree)
J2 (degree)
Joint J3 (degree)
Angle
J4 (degree)
Limits
J5 (degree)
J6 (degree)
J1 (degree/s)
J2 (degree/s)
Joint
J3 (degree/s)
Speed
Limits J4 (degree/s)
J5 (degree/s)
J6 (degree/s)
Force (N)
Power (W)
Robot/TCP
Speed (mm/s)
Limits
Momentum (kgm/s)
Collision Detection
Sensitivity (%)
Speed Reduction
Safety I/O
Ratio (%)
Doosan Robotics User Manual v2.6.1
Normal
Min Max Default
-360 360 -360~360
-360 360 -95~95
-160 160 -135~135
-360 360 -360~360
-360 360 -135~135
-360 360 -360~360
0 180 180
0 180 180
0 180 180
0 360 360
0 360 360
0 360 360
0 450 200
0 2000 600
0 7000 2000
0 75 38
1 100 75
- - -
246
Reduced
Min Max Default
-360 360 -360~360
-360 360 -95~95
-160 160 -135~135
-360 360 -360~360
-360 360 -135~135
-360 360 -360~360
0 180 180
0 180 180
0 180 180
0 360 360
0 360 360
0 360 360
0 450 100
0 2000 100
0 7000 1000
0 75 23
- - -
1 100 20
Tolerance
(+/-)
3/-3
3/-3
3/-3
3/-3
3/-3
3/-3
10
10
10
10
10
10
-
-
-
-
-
-