Running Jog Mode On A Joint Basis - Doosan M0609 User Manual

No.
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9 Robot Workspace
Note

TCP Speed Limit: The highest operation speed during jog and movement button operation are
limited to 250mm/s according to safety policies.

If the robot stops due to reaching the joint limit or if a collision is detected while moving the
robot with jog mode, set the safety recovery mode and move the robot to be positioned within
the joint angle limit. For more information about Safety Recovery Mode, refer to "
moving the position of each joint to the robot's normal operating radius, please move one joint
at a time.

When you have run the back drive operation mode, you can resume operation only after
rebooting the robot.

."

11.1.1 Running jog mode on a joint basis

How to adjust the robot's angles on a joint basis:
1
Go to the Jog screen and tap the Joint tab.
2
Select the axis whose angle you want to adjust (J1 to J6).
Doosan Robotics User Manual v1.7
Item
It configures whether to operate the robot in real mode while in jog
mode.
Real Mode
 ON (
 OFF (
It selects the alignment direction of the robot displayed on the
Simulator
simulator. Pressing each direction button aligns the robot in the
Alignment
corresponding direction.
It displays robot workspace information registered in the Workcell
Manager in the Jog Simulator. Click the drop-down menu to select the
workspace to display.
Description
): The robot operates with the simulator.
): Only the simulator operates.
116
When