Doosan H2017 - Page 44

Doosan Robotics User Manual v2.6.1
44
 Functional Limits of force monitoring for each Robot Series
You can use the teach pendant and DART-Studio to monitor force data. You may also use the DRL
command (Check_force_condition()) to monitor force data externally.
• If the palletizing mode is set to “ON”: The same control/monitoring functions provided in the
OFF state are available, except for H Series robots.
Features
A Series
(Current-
based)
A Series S
(Current-
based and
FTS-based)
M Series
(JTS-based)
H Series
(JTS-based)
Force control
O (setting
available only
in three
translation
directions,
excluding
rotation)
O (FTS-based)
O
O
O (If the palletizing
mode is set to “ON”:
Force control output
limited (Base Rx, Ry
orientation)
1)
)
Compliance control
O (setting
available only
in three
translation
directions,
excluding
rotation)
O (FTS-based)
O
O
O (If the palletizing
mode is set to “ON”:
Compliance control
output limited (Base
Rx, Ry orientation)
1)
)
Force monitoring
(Teach Pendant)
X
O (FTS-based)
O (Force value
of “0” shown
for the
singularity
section)
O (Force value of “0”
shown for the
singularity section)
O (If the palletizing
mode is set to “ON”:
4-Degree of Freedom
provided for the base
(x, y, z, Rz))
Force monitoring
(DART-Studio)
O (Force value
of “0” shown
for the
singularity
section)
O (FTS-based)
O (Force value
of “0” shown
for the
singularity
section)
O (Force value of “0”
shown for the
singularity section)
O (If the palletizing
mode is set to “ON”:
4-Degree of Freedom
provided for the base
(x, y, z, Rz))
Force monitoring
(When using DRL
commands:
Check_force_
condition())
O (Force value
of “0” shown
for the
singularity
section)
O (FTS-based)
O (Force value
of “0” shown
for the
singularity
section)
O (Force value of “0”
shown for the
singularity section)
O (If the palletizing
mode is set to “ON”:
4-Degree of Freedom
provided for the base
(x, y, z, Rz))