Doosan M0609 Installation Manual page 34

Note

The gray section of the figure on the right is the section where the robot has difficulty working.
Within the section, the robot can operate inefficiently because the joints move fast even when
the tool moves slowly, which makes it difficult to perform a risk assessment. Therefore, it is not
recommended to let the tool move in the cylindrical section where the tool's movement can pass
through the top or bottom of the base.
Doosan Robotics Installation Manual v1.3 34