Doosan H2017 - A.8 H2017

249
A.8 H2017
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)
-125
125
-95~95
-125
125
-95~95
3/-3
J3 (degree)
-160
160
-145~145
-160
160
-145~145
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
80
80
0
80
80
10
J2 (degree/s)
0
80
80
0
80
80
10
J3 (degree/s)
0
80
80
0
80
80
10
J4 (degree/s)
0
180
180
0
180
180
10
J5 (degree/s)
0
180
180
0
180
180
10
J6 (degree/s)
0
180
180
0
180
180
10
Robot/TCP
Limits
Force (N)
0
1200
243
0
1200
122
-
Power (W)
0
1600
800
0
1600
650
-
Speed (mm/s)
0
2500
2000
0
2500
1500
-
Momentum (kgm/s)
0
400
200
0
400
122
-
Collision Detection
Sensitivity (%)
1
100
75
-
-
-
-
Safety I/O
Speed Reduction
Ratio (%)
-
-
-
1
100
20
-