Doosan H2017 - Functional Limits of each Robot Series

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3.5 Functional Limits of each Robot Series
The different robot series (A, As, M/H Series) limit the use of functions as follows:
• Current-based: Current of motor located on each joint is used.
• FTS-based: An FTS (force torque sensor) located on the end of the robot is used.
• JTS-based: JTS (joint torque sensors) located on each joint is used.
Features
A Series
(Current-based)
A Series S
(Current, FTS-
based)
M Series
(JTS-based)
H Series
(JTS-based)
Direct Teaching
- Free Motion
O
O (Current-
based)
O
O
Direct Teaching
- Restrained Motion
X
O (FTS based)
O
O
Collision Detection
O
O (Current-
based)
O
O
Installation Pose
Measurement
X
O (FTS based)
O
X(the robot can
only be installed
on the floor)
Tool Weight
Measurement
X
O (FTS based)
O
O
Workpiece Weight
Measurement
X
O (FTS based)
O
O
Nudge Function
X
X
O
O
Force Control
O
(setting available
only in three
translation
directions,
excluding
rotation)
O (FTS based)
O
O
Compliance Control
O
(setting available
only in three
translation
directions,
excluding
rotation)
O (FTS based)
O
O