Doosan H2017 - Annex A. Upper;Lower Threshold Range and Default Value of Safety Parameters; A.1 M1509

Annex A. Upper/Lower Threshold Range and
Default Value of Safety Parameters
A.1 M1509
Parameters
Normal
Reduced
Tolerance
(+/-)
Min
Max
Default
Min
Max
Default
Joint
Angle
Limits
J1 (degree)
-360
360
-360~360
-360
360
-360~360
3/-3
J2 (degree)
-360
360
-95~95
-360
360
-95~95
3/-3
J3 (degree)
-150
150
-135~135
-150
150
-135~135
3/-3
J4 (degree)
-360
360
-360~360
-360
360
-360~360
3/-3
J5 (degree)
-360
360
-135~135
-360
360
-135~135
3/-3
J6 (degree)
-360
360
-360~360
-360
360
-360~360
3/-3
Joint
Speed
Limits
J1 (degree/s)
0
150
150
0
150
150
10
J2 (degree/s)
0
150
150
0
150
150
10
J3 (degree/s)
0
180
180
0
180
180
10
J4 (degree/s)
0
225
225
0
225
225
10
J5 (degree/s)
0
225
225
0
225
225
10
J6 (degree/s)
0
225
225
0
225
225
10
Robot/TCP
Limits
Force (N)
0
800
162
0
800
81
-
Power (W)
0
1600
650
0
1600
120
-
Speed (mm/s)
0
7000
2000
0
7000
1000
-
Momentum (kgm/s)
0
135
68
0
135
40
-
Collision Detection
Sensitivity (%)
1
100
75
-
-
-
-
Safety I/O
Speed Reduction
Ratio (%)
-
-
-
1
100
20
-