Doosan M0609, Руководство пользователя

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Doosan Robotics User Manual v1.9 184
12.13 Friction Calibration

This function automatically calibrates the friction created from the robot axis in A-Series.
Friction calibration is performed during initial manufacturing, and it can be performed again
when maintenance is needed.
1
Tap the Settings button on the main menu and select Friction Calibration .
2
Select the axis to calibrate friction.
3
Enter the friction calibration start position according to the angle limit range of start position of
each axis.
4
Enter the range to measure from the friction calibration start position according to the angle limit
range.

It is recommended to include the robot operation range as much as possible.
5
Tap the Auto Calculate button.
6
Tap the Motion Check button of the auto measure motion check popup window.

Auto measure motion check is performed in sequential order of axes selected after the
entire axis moves to the start position.

Auto measure motion check stops when the stop button is tapped.
7
After auto measure motion check, tap the Auto Calculate button of the auto calculate popup
window.

Auto calculate is performed in sequential order of axes selected after the entire axis moves
to the start position.

Auto calculate stops when the stop button is tapped.
8
When the Auto Calculate of selected axes is complete, the friction calibration result is
displayed on each axis.

Successful results are displayed in green and failed results are displayed in gray.
9
Tap the Confirm button.