Doosan H2017 - Page 4

Doosan Robotics User Manual v2.6.1
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6.2 Load Saved Tasks ............................................................................................ 69
6.3 Tool Setting........................................................................................................ 70
7. Workcell Manager................................................................... 72
7.1 What is a Workcell Item? ................................................................................. 72
7.2 Add Workcell Item ............................................................................................ 74
7.3 Deprecated Workcell Item ............................................................................... 75
7.4 Unavailable Workcell Items ............................................................................ 77
7.5 Robot Setting .................................................................................................... 78
7.5.1 World Coordinates Setting
...................................................................................................................... 80
7.5.2 Robot Limits Setting
................................................................................................................................. 83
7.5.3 Safety I/O Setting
...................................................................................................................................... 86
7.5.4 Normal I/O Setting
.................................................................................................................................... 90
7.5.5 Safety Stop Modes Setting
..................................................................................................................... 92
7.5.6 Robot Installation Pose Setting
............................................................................................................... 93
7.5.7 Tool Shape Setting
.................................................................................................................................. 95
7.5.8 Tool Weight Setting
.................................................................................................................................. 96
7.5.9 User Coordinates Setting
........................................................................................................................ 98
7.5.10 Nudge Setting
.......................................................................................................................................... 99
7.5.11 Space Limit and Zone Settings Overview
........................................................................................... 100
7.5.12 Space Limit Settings
.............................................................................................................................. 103
7.5.13 Collaborative Zone Settings
.................................................................................................................. 104
7.5.14 Crushing Prevention Zone Settings
..................................................................................................... 105
7.5.15 Collision Sensitivity Reduction Zone Settings
...................................................................................... 106
7.5.16 Tool Orientation Limit Zone Settings
..................................................................................................... 107
7.5.17 Custom Zone Settings
.......................................................................................................................... 108
7.6 End Effector Setting ....................................................................................... 110
7.6.1 Grippers and Tools
................................................................................................................................ 110
7.6.2 End Effector I/O Signal Setting
.............................................................................................................. 112
7.6.3 End Effector I/O Testing
......................................................................................................................... 113
7.6.4 Tool Center Point (TCP) Setting
........................................................................................................... 114
7.6.5 Tool Center Point Setting based on Other End Effectors
................................................................... 116