Doosan H2017 - 7.5.2 Robot Limits Setting

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7.5.2 Robot Limits Setting
It sets the safety limits of safety monitoring functions.
Note
 The limit and initial safety settings may vary according to the robot lineup.
 Safety limits is the condition where the safety-rated monitoring function triggers the stop
function. When stop is completed, the position of the robot and force applied externally may
differ from the configured safety threshold.
 TCP/Robot Limits
To set the TCP/Robot Limits, go to the Robot Workcell and select Robot > Robot Limits >
TCP/Robot. The TCP/Robot Limits setting screen layout is composed as follows:
No.
Item
Description
1
Force (N)
It can limit the force level applied to the tool center point (TCP).
2
Power (W)
It can limit the mechanical power level of the robot.
3
Speed (mm/s)
It can limit the speed of the tool center point (TCP).
4
Momentum
(kg.m/s)
It can limit the momentum size of the robot.
1
5
2
3
4
6