Doosan H2017 - Page 247

247
A.6 A0912, A0912S
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)
-160
160
-135~135
-160
160
-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
180
180
0
180
180
10
J2 (degree/s)
0
180
180
0
180
180
10
J3 (degree/s)
0
180
180
0
180
180
10
J4 (degree/s)
0
360
360
0
360
360
10
J5 (degree/s)
0
360
360
0
360
360
10
J6 (degree/s)
0
360
360
0
360
360
10
Robot/TCP
Limits
Force (N)
0
600
300
0
600
150
-
Power (W)
0
2000
1100
0
2000
180
-
Speed (mm/s)
0
8000
2000
0
8000
1500
-
Momentum (kgm/s)
0
165
82
0
165
50
-
Collision Detection
Sensitivity (%)
1
100
75
-
-
-
-
Safety I/O
Speed Reduction
Ratio (%)
-
-
-
1
100
20
-