Doosan A0509, User Manual

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7.5.12 Space Limit Settings
To set space limits for the robot, tap the Add button on the Robot Workcell and select Space
Limit > Cube , Cylinder , Multi-plane Box, Sphere or Tilted Cuboid . The safety password is required
during setup and activation.
1
Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2
Set the pose information according to the Space Limit shape along with the Inspection Point ,
Valid Space and Zone Margin in the Geometry tab .
3
Set the
Dynamic Zone Enable and Advanced Options in the Parameters tab , and press Draft
.
4
Verify that all parameters displayed are the same as what are Intended to be set, then check
Confirm draft and press Confirm
5
Press the Activate Toggle button to apply the Space Limit .
Note
There are Zone Margin defaults depending on the setting methods.

If the tool shape is set and Body volume check is not selected, TCP margin is 0 mm.

If the tool shape is set and Body volume check is selected, TCP margin is 0 mm.

If the tool shape is not set and Body volume check is not selected, TCP margin is 0 mm.

If the tool shape is not set and Body volume check is selected, TCP margin is 60 mm.