Doosan H2017 Installation Manual

Doosan Robotics Installation Manual v2.1
96
Safety
Function
Name
Stop Triggering Event
Stop
Mode
PFHd
PL, SIL
TCP
Orientation
Limit
If the difference between the set direction within the Tool
Orientation Limit Zone and the TCP orientation deviation
exceeds the configured threshold
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2
TCP Speed
Limit
If the TCP speed exceeds the configured threshold
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2
TCP Force
Limit
If the external force applied to the TCP exceeds the
configured threshold
STO,
SS1 or
SS2
1.94E-7
/h
PL d Cat. 3
SIL 2
Robot
Momentum
Limit
If the momentum of the robot exceeds the configured
threshold
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2
Robot
Power Limit
If the mechanical power of the robot exceeds the
configured threshold
STO,
SS1 or
SS2
1.94E-7
/h
PL d Cat. 3
SIL 2

Doosan H2017 Specifications

General

Brand	Doosan
Model	H2017
Category	Robotics
Language	English