Doosan M0609, User Manual

Page: 74 / 190

Doosan Robotics User Manual v1.9 74
7.4.7 Tool Weight Setting
To configure the robot tool weight, tap the
“Add” button on the
Robot Workcell and select
Robot > Tool Weight .
Auto Tool Weight Measurement:
1
Select an Auto motion calculation method.

All Motion: All joints are used to measure tool weight.

4, 5, 6 Motion : Joints 4, 5 and 6 are used to measure tool weight.
2
Enable the checkbox of the parameter (weight, center of gravity) to estimate.

It is possible for the user to enter a known parameter value without enabling the checkbox.

If the user enters a known parameter, the values for parameters with their checkboxes
enabled calculate the weight or center of gravity according to the entered parameter value.
3
Tap the Auto Calculate button.
Warning

If the Auto Calculate checkbox for weight is disabled, enter a positive real number.
(the center of gravity can be a negative real number or 0)

Remove all obstacles before executing auto calculate.

To execute Auto Calculate of 4, 5 and 6, the 3-axis angle must be greater than +30 degrees or
less than -30 degrees.

Note that safety monitoring functions are disabled during Auto Calculate.

During Auto Calculate, the Auto Calculate button becomes the Stop button, which allows the
user to stop Auto Calculate. If calculation is stopped, the weight and center of gravity values are
reset.