Doosan A0509, User Manual

Page: 100 / 253

Doosan Robotics User Manual v2.6.1 100
7.5.11 Space Limit and Zone Settings Overview

Space Limit
In addition to the joint angle limit of the robot in “ 7.5.2 Robot Limits Setting ”, it is possible to limit the
robot's operating space to within the Cartesian coordinates. If the robot or TCP violate Space Limit
during the automatic operation or manual mode, It will stop according to the Safety Stop Mode
setting.
During direct teaching by handguiding, the repulsive force can be felt when the robot or TCP reaches
the boundary of
Space Limit.
By selecting the Inspection Point , it is possible to set the Space Limit to either apply to the entire
robot body or only to the TCP.
By selecting the Valid Space , it is possible to select whether the Inspection Point cannot enter the
designated space or cannot leave the space.
With the Zone Margin, the expanded volume from the designated volume with specified points can be
easily configured.
If Dynamic Zone Enable is selected , that Space Limit is activated/deactivated according to the
designated Safety I/O Input signal. If the Input is active, then the corresponding Space Limit is
activated. If the Input is not active, then the corresponding Space Limit is deactivated, and Robot
operates as same as without that Space Limit .

Zone
Depending on the application, it may be necessary to set a safety limit different from the global safety
limit designated by “
7.5.2 Robot Limits Setting” in certain spaces. It is possible to set a separate
safety limit only in the designated section using the section setting function. Overridable safety limits
are designated depending on the section type.
•
Collaborative Zone : This is a zone where the robot and operator can work together. The task
speed and joint speed can be set to automatically decelerate in accordance with deceleration
rate, and it is possible to override the collision detection sensitivity, TCP force limit and Safety
Stop Modes. Space that are not set as Collaborative Zone are treated as Standalone Zone.
•
Crushing Prevention Zone: This is a special type of collaborative zone where the TCP speed is
limited under 200mm/s, Collision Sensitivity is fixed to 100%, and Safety Stop Mode is fixed to
RS1. By setting Crushing Prevention Zone near the robot’s work point and obstacles, the risk of
crushing can be reduced.
•
Collision Sensitivity Reduction Zone : In the Collision Sensitiviy Reduction Zone, collision
detection sensitivity can be set lower than global threshold set in Robot Limits . This can be used
when the robot must operate in contact with the workpiece and apply force without collision
detection.
•
Tool Orientation Limit Zone : If the direction of the tool center point (TCP) within the Tool
Orientation Limit Zone exceeds the limit angle range, the robot stops according to the Safety
Stop Modes . It can be used to reduce risk by the direction of tool or workpieces of robot.
•
Custom Zone : Various safety limits can be overridden, depending on the application.
By selecting the Valid Space , it is possible to select whether the Inspection Point cannot enter the
designated space or cannot leave the space.