Doosan M0609 User Manual page 4

6.2 Load Saved Tasks ............................................................................................ 69
6.3 Tool Setting........................................................................................................ 70
7. Workcell Manager................................................................... 72
7.1 What is a Workcell Item? ................................................................................. 72
7.2 Add Workcell Item ............................................................................................ 74
7.3 Deprecated Workcell Item ............................................................................... 75
7.4 Unavailable Workcell Items ............................................................................ 77
7.5 Robot Setting .................................................................................................... 78
7.5.1
7.5.2
7.5.3
7.5.4
7.5.5
7.5.6
7.5.7
7.5.8
7.5.9
7.5.10 Nudge Setting .......................................................................................................................................... 99
7.5.11 Space Limit and Zone Settings Overview ........................................................................................... 100
7.5.12 Space Limit Settings .............................................................................................................................. 103
7.5.13 Collaborative Zone Settings .................................................................................................................. 104
7.5.14 Crushing Prevention Zone Settings ..................................................................................................... 105
7.5.15 Collision Sensitivity Reduction Zone Settings ...................................................................................... 106
7.5.16 Tool Orientation Limit Zone Settings ..................................................................................................... 107
7.5.17 Custom Zone Settings .......................................................................................................................... 108
7.6 End Effector Setting ....................................................................................... 110
7.6.1
7.6.2
7.6.3
7.6.4
7.6.5
Doosan Robotics User Manual v2.6.1
World Coordinates Setting ...................................................................................................................... 80
Robot Limits Setting ................................................................................................................................. 83
Safety I/O Setting ...................................................................................................................................... 86
Normal I/O Setting .................................................................................................................................... 90
Safety Stop Modes Setting ..................................................................................................................... 92
Robot Installation Pose Setting ............................................................................................................... 93
Tool Shape Setting .................................................................................................................................. 95
Tool Weight Setting .................................................................................................................................. 96
User Coordinates Setting ........................................................................................................................ 98
Grippers and Tools ................................................................................................................................ 110
End Effector I/O Signal Setting .............................................................................................................. 112
End Effector I/O Testing ......................................................................................................................... 113
Tool Center Point (TCP) Setting ........................................................................................................... 114
Tool Center Point Setting based on Other End Effectors ................................................................... 116
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