Doosan A0509 User manual

Robot Arm (A0509/A0509s*)
Control Box
Payload within Work
Radius
5 kg
Size
450x210x265 mm + Stand100 mm
Max. Work Radius
900 mm
Weight
13 kg
TCP Speed
Over 1 m/s
Protection Rating
IP 40
Position Repeatability
(ISO 9283)
± 0.03 mm
Digital I/O
16 In, 16 Out
Weight
21 kg
Analog I/O
2 In, 2 Out
Protection Rating
IP 54
I/O Power supply
DC 24 V
Digital I/O - Flange
2 In, 2 Out, RS485
Rated voltage
100-240 (50~60Hz) VAC
Power supply -
Flange
DC 24 V, 2A (Max. 3A)
Interface
Ethernet (TCP/IP), USB 3.0
(RS232/422/485*)
*Model with Force Torque Sensor *USB to RS232/422/485 converter required
Doosan Robot
A0509 | A0509s | A0912 | A0912s
Quick Guide

Quick Guide
Thank you for choosing this Doosan Robotics product.
This manual contains minimal information for checking and installing components and downloading
user manuals. Please be sure to refer to the detailed manual for product installation, use and
precautions.
◼Doosan Robotics does not assume responsibility for any damages or losses that occur during
transportation.
◼Configure the DIP switch according to components and additional components before connecting
and starting up the product.
◼If the robot is transported by packaging it with packaging materials, store the robot in a dry location.
If the robot is stored in a location with high humidity, condensation may occur, resulting in robot
defects.
◼Removing or moving the robot from the packaging box, hold the top and bottom of the Link1
between J2 and J3. When transporting the robot using lifting equipment, make sure to observe all
related national and regional regulations.
◼Make sure that all the standard items and optional items (sold separately) are included, and if you
have any problems, contact your place of purchase.

Component Check
Robot (including connection cables)*
Control Box*
Emergency stop Button*
Control Box Power Cable*
Teach Pendant**
Smart Pendant**
Note
Items are indicated as standard items (*) and optional items (**, sold separately).
The laptop is not included in the package, and it is necessary when installing the DART-Platform.
The DART-Platform is SW that runs on a Windows OS-based desktop or laptop. That can operate and
program the same as theTeach Pendant.
For details of optional items, refer to the website (www.doosanrobotics.com).

Emergency Stop Button Setting Switch
Configure the emergency stop button setting switch on the Case according to components and
additional components before connecting and starting up the product.
Case 1
1.Teach Pendant(O), Smart Pendant(O)
2.Teach Pendant(O), Emergency Stop
Button(O)
3.All use
On
Off
Case 2
1.Smart Pendant(O), Teach Pendant(X)
2.Emergency Stop Button(O), Teach
Pendant(X)
On
Off
Case 3
Teach Pendant(O), Smart Pendant(X),
Emergency Stop Button(X)
On
Off
Note
If the setting is not configured according to the guide, the robot will not operate properly.
Upon first receiving, the setting is configured as Case 1.
For the details, refer to the installation manual.
Warning
If the setting of the emergency stop button setting is different from the actual
configuration, the emergency stop button does not work and the user may be
injured in an emergency situation.
Emergency Stop Button Setting Switch

Transportation
Cautions during Transportation
※When relocating the robot, have two or more individuals hold the link area of the robot.
※The control box is moved by grasping the side handle.
Installation
Cautions during Installation
※Before installing the robot, secure sufficient space and install the robot on a firm, even surface.
※Check whether flammable and explosive materials are near the installation location.
Securing the Robot
※Use M8 bolts in the four 9.5 mm holes in the robot base to secure the robot.
※Tighten the bolts all the way to prevent loosening during robot operation. And it is
recommended to use a tightening torque of 20 Nm to tighten the bolts.
※The robot will interpret robot base vibration as a collision and engage the emergency stop.
Connecting the Robot and Control Box
※Push the robot cable connected to the robot into the corresponding control box connector until a
click is heard to prevent the cable from becoming loose.
※For the details of the installation, refer to the installation manual.

Emergency Stop Function
In emergency situations, press the Emergency Stop button or the Emergency Stop located on the
top right of the teach pendant or smart pendant to immediately stop the system.
※SS1 stop mode is set as the default setting of the emergency stop button.
※Turning the emergency stop button clockwise can release emergency stop function
engagement.
※For details of Safety, refer to the installation manual.

Booting
If you use standard items, you should install DART-Platform SW for robot control. Please install
DART-Platform in advance. The installer download can be found in Robot LAB > Resources >
Software (https://robotlab.doosanrobotics.com/en/MyRobot/Dashboard). To download the installer, you
need to log in the Robot LAB.
※When the installation of DART-Platform is completed, proceed in the order shown below;
1. Turn on the power switch at the bottom of the control box.
2. Open the door of the control box and press and hold the power button located at the
bottom right of the safety board.
3. Connect your desktop or Laptop to the control box. (Refer to the image below)
4. After about 1 minute after booting starts, run the DART-Platform and check the serial
number of the robot connected to the network.
5. Select and connect the robot you want to connect to
ON/OFF switch
LAN Port
On/Off Switch

Note
The boot status is identified by the robot LED illuminated.
If there is no connection between the control box and DART-Platform, change the C class band of IP
address and default gateway of the desktop or laptop with DART-Platform installed to the C class
band of the control box’s IP address, and retry.
If you are a Teach Pendant or Smart Pendant user, process in the following order.
1. Switch on the power switch at the bottom of the control box.
2. Press and hold the power button on the top left of the Teach Pendant or Smart Pendant.

Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan
Robotics. It is therefore prohibited to use, copy, or distribute the contents without written approval
from Doosan Robotics. In the event of abuse or modification of the patent rights, the user will be
solely responsible for the consequences.
While the information in this manual is reliable, Doosan Robotics is not responsible for any damage
that occurs due to errors or typos. The contents of this manual may be modified according to
product improvement without prior notification.
This is a detailed manual for a specific software version of the robot. For details of updated
manuals, refer to the Robot LAB website (https://robotlab.doosanrobotics.com/).
The manuals provided are as follows:
◼Installation Manual : This manual describes the overall installation of the robot.
◼User Manual : This manual describes robot work management and menus in the UI.
◼Reference Manual : This manual describes workcell item, skill commands, task templates and key
applications.
◼Programming Manual : This manual describes the grammar and commands you need to know about task
programming.
OSS
The software installed in this product was developed based on free/open source software.
Details about the free/open source software license can be found on the OSS use page on the
Doosan Robotics website (www.doosanrobotics.com/kr/oss/license).
For related inquires, contact the Marketing Department of Doosan Robotics
([e-mail]).