Doosan M0609 User Manual page 55

Automatic Tool Weight Measurement:
6
Select an automatic motion calculation method.

All Motion: All joints are used to measure tool weight.

4, 5, 6 Motion: Joints 4, 5 and 6 are used to measure tool weight.
7
Enable the checkbox of the parameter (weight, center of gravity) to estimate.

It is possible for the user to enter a known parameter value without enabling the checkbox.

If the user enters a known parameter, the values for parameters with their checkboxes enabled
calculate the weight or center of gravity according to the entered parameter value.
8
Tap the "Auto Calculate" button.
Warning

If the auto calculate checkbox for weight is disabled, enter a positive real number.
(the center of gravity can be negative real number or 0)

Remove all obstacles before executing auto calculate.

To execute automatic calculation of 4, 5 and 6, the 3-axis angle must be greater than +30
degrees or less than -30 degrees.

Note that safety monitoring functions are disabled during auto calculation.

During auto calculation, the Auto Calculate button becomes the Stop button, which allows the
user to stop auto calculation. If calculation is stopped, the weight and center of gravity values
are reset.
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