Doosan M0609 User Manual page 44

Functional Limits of force monitoring for each Robot Series

You can use the teach pendant and DART-Studio to monitor force data. You may also use the DRL
command (Check_force_condition()) to monitor force data externally.
•
If the palletizing mode is set to "ON": The same control/monitoring functions provided in the
OFF state are available, except for H Series robots.
Features
Force control
Compliance control
Force monitoring
(Teach Pendant)
Force monitoring
(DART-Studio)
Force monitoring
(When using DRL
commands:
Check_force_
condition())
Doosan Robotics User Manual v2.6.1
A Series S
A Series
(Current-
(Current-
based and
based)
FTS-based)
O (setting
available only
in three
translation O (FTS-based)
directions,
excluding
rotation)
O (setting
available only
in three
translation O (FTS-based)
directions,
excluding
rotation)
X O (FTS-based)
O (Force value
of "0" shown
for the O (FTS-based)
singularity
section)
O (Force value
of "0" shown
for the O (FTS-based)
singularity
section)
M Series
(JTS-based)
O
O
O (Force value
of "0" shown
for the
singularity
section)
O (Force value
of "0" shown
for the
singularity
section)
O (Force value
of "0" shown
for the
singularity
section)
44
H Series
(JTS-based)
O
O (If the palletizing
mode is set to "ON":
Force control output
limited (Base Rx, Ry
1)
orientation) )
O
O (If the palletizing
mode is set to "ON":
Compliance control
output limited (Base
1)
Rx, Ry orientation) )
O (Force value of "0"
shown for the
singularity section)
O (If the palletizing
mode is set to "ON":
4-Degree of Freedom
provided for the base
(x, y, z, Rz))
O (Force value of "0"
shown for the
singularity section)
O (If the palletizing
mode is set to "ON":
4-Degree of Freedom
provided for the base
(x, y, z, Rz))
O (Force value of "0"
shown for the
singularity section)
O (If the palletizing
mode is set to "ON":
4-Degree of Freedom
provided for the base
(x, y, z, Rz))