Doosan M0609 User Manual page 7

10.3 I/O Test .............................................................................................................. 180
10.4 Modbus Test .................................................................................................... 181
10.5 Servo On .......................................................................................................... 182
10.6 Backdrive Mode .............................................................................................. 183
10.7 Safety Recovery Mode................................................................................... 184
10.7.1 Using Software Recovery Mode .......................................................................................................... 185
10.7.2 Packaging Mode Setting ....................................................................................................................... 186
11. Jog Function ......................................................................... 187
11.1 Jog Screen ....................................................................................................... 188
11.1.1 Execute based on Joint ......................................................................................................................... 190
11.1.2 Execute based on Robot Base ............................................................................................................ 191
11.1.3 Execute based on World Coordinates ................................................................................................. 192
11.1.4 Execute based on Robot Tool .............................................................................................................. 193
11.2 Movement Screen .......................................................................................... 194
11.2.1 Moving with Angle Setting ..................................................................................................................... 195
11.2.2 Move with Base Reference Coordinates ............................................................................................ 196
11.2.3 Move with World Coordinates Reference Coordinates ..................................................................... 197
11.2.4 Move with Tool Reference Coordinates .............................................................................................. 198
11.3 Align Screen .................................................................................................... 199
11.3.1 Alignment based on Base Axis/World Axis ......................................................................................... 200
11.3.2 Go to Home ............................................................................................................................................ 201
11.3.3 Alignment based on Target ................................................................................................................... 202
11.3.4 Alignment based on Workcell Items ..................................................................................................... 204
11.4 Jog Plus (Jog+) ............................................................................................... 205
12. Environment Setting ............................................................ 208
12.1 Language Setting ........................................................................................... 208
12.2 Date and Time Setting ................................................................................... 209
12.3 Robot Setting .................................................................................................. 210
12.3.1 Robot Home Position Setting ............................................................................................................... 210
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