Doosan M0609, Руководство пользователя

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Doosan Robotics User Manual v1.9 116
8.6.3 Operation Mode Setting
There is a synchronized mode and asynchronized mode based on the axis operation method during
movement.
•
Synchronized : This controls the movement of all axes with the speed of the slowest axis.
•
Asynchronized : This controls the movement of each axis with individual velocities.
8.6.4 Blending Mode Setting
This is a function to move smoothly to the next target point if a specific condition is satisfied without
stopping when the target point (waypoint) of the current motion command is reached.
If the radius is set to 0, the motion blending function does not activate. So, if the robot reaches the
target point of the current command, it stops and then moves to the target point of the next motion
command.
Overlap : When the robot reaches the set radius centering the target point of the motion command, it
retains the speed of the current command and moves to the target point of the next command.
Override : When the robot reaches the set radius centering the target point of the motion command, it
immediately reduces the speed of the current command and moves to the target point of the next
command.
8.6.5 Multi-Segment (Waypoint) Setting
Depending on the motion command, it may be necessary to configure two or more waypoints. Each
waypoint is referred to as a segment, and adding a waypoint will add a line at the bottom of the
command. The motion commands requiring two or more segments are referred to as “multi-segment
motion commands.”
The following is an example of configuring a Move SJ command.
1
Tap Add Pose in command properties.

Segment 1 is added to the bottom line of Move SJ command.