Doosan H2017 - Space Limit Settings

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7.5.12 Space Limit Settings
To set space limits for the robot, tap the Add button on the Robot Workcell and select Space
Limit>Cube, Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The safety password is required
during setup and activation.
1 Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2 Set the pose information according to the Space Limit shape along with the Inspection Point,
Valid Space and Zone Margin in the Geometry tab.
3 Set the Dynamic Zone Enable and Advanced Options in the Parameters tab, and press Draft.
4 Verify that all parameters displayed are the same as what are Intended to be set, then check
Confirm draft and press Confirm
5 Press the Activate Toggle button to apply the Space Limit.
Note
There are Zone Margin defaults depending on the setting methods.
 If the tool shape is set and Body volume check is not selected, TCP margin is 0 mm.
 If the tool shape is set and Body volume check is selected, TCP margin is 0 mm.
 If the tool shape is not set and Body volume check is not selected, TCP margin is 0 mm.
 If the tool shape is not set and Body volume check is selected, TCP margin is 60 mm.