Doosan A0509 User manual

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Manual Version 1.8
Software Version 2.7.1

Preface ................................................................. 7
Copyright......................................................................................................................7
Open Source Software License Information (OSS)..............................................7
1. Safety........................................................... 8
1.1 ManualIndication Conventions.......................................................................8
1.2 SafetySymbols...................................................................................................9
1.3 General Instructions ........................................................................................10
1.4 ProductUsage..................................................................................................12
1.5 RiskAssessment..............................................................................................13
1.6 PotentialRisks..................................................................................................15
1.7 Validity and Responsibility.............................................................................16
2. Product Introduction................................ 17
2.1 ComponentCheck...........................................................................................17
2.2 Names and Functions......................................................................................19
2.2.1 Manipulator.....................................................................................................................................................................................................................................................19
2.2.2 Controller...........................................................................................................................................................................................................................................................21
2.2.3 Teachpendant..........................................................................................................................................................................................................................................22
2.2.4 SmartPendant..........................................................................................................................................................................................................................................23
2.2.5 EmergencyStopButton.................................................................................................................................................................................................................24
2.3 SystemConfiguration......................................................................................25
2.4 ProductSpecifications,General....................................................................26
2.5 Robot Specifications........................................................................................27
2.5.1 BasicSpecifications..............................................................................................................................................................................................................................27
2.5.2 AxisSpecifications.................................................................................................................................................................................................................................28
2.5.3 Robotoperatingspace.....................................................................................................................................................................................................................29
2.5.4 Max.Payloadwithinoperatingspace.............................................................................................................................................................................37
2.5.5 ToolCenterPoint(TCP).................................................................................................................................................................................................................39

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2.6 Nameplatesand Labels...................................................................................40
3. Installation ................................................ 41
3.1 Cautions during Installation...........................................................................41
3.2 InstallationEnvironment.................................................................................42
3.2.1 InstallationLocationCheck..........................................................................................................................................................................................................42
3.2.2 RobotWorkAreaCheck...............................................................................................................................................................................................................43
3.3 Hardware Installation.......................................................................................44
3.3.1 SecuringtheRobot...............................................................................................................................................................................................................................44
3.3.2 ConnectingtheRobotandTool............................................................................................................................................................................................46
3.3.3 ConnectingtheManipulatorandController.............................................................................................................................................................47
3.3.4 ConnectingtheControllerandEmergencyStopButton........................................................................................................................49
3.3.5 ConnectingtheController,andSmartPendant.................................................................................................................................................50
3.3.6 ConnectingtheControllerandTeachPendant.................................................................................................................................................52
3.3.7 RoutingofCables...................................................................................................................................................................................................................................54
3.3.8 SupplyingPowertotheController......................................................................................................................................................................................55
3.3.9 SystemPower-Up................................................................................................................................................................................................................................56
3.3.10 EmergencyStopButtonSettingSwitch......................................................................................................................................................................59
4. Interface .................................................... 60
4.1 Flange I/O...........................................................................................................60
4.1.1 FlangeDigitalOutputSpecifications.................................................................................................................................................................................63
4.1.2 FlangeDigitalInputSpecifications.......................................................................................................................................................................................64
4.2 Controller I/OConnection...............................................................................65
4.2.1 SettingtheTerminalBlockforContactInput(TBSFT)...............................................................................................................................66
4.2.2 SettingtheDigitalI/OPowerTerminal(TBPWR)............................................................................................................................................68
4.2.3 SettingtheConfigurableDigitalI/O(TBCI1-4,TBCO1-4).................................................................................................................69
4.2.4 SettingAnalogI/OTerminal(TBAIO).............................................................................................................................................................................75
4.2.5 SettingEncoderInputTerminal(TBEN1,TBEN2).......................................................................................................................................77
4.3 Network Connection........................................................................................79
4.3.1 ConnectingExternalDevices-VisionSensor.....................................................................................................................................................79

Doosan Robotics Installation(A-Series) Manual v1.8
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4.3.2 ConnectingExternalDevice–DARTPlatform..................................................................................................................................................81
4.3.3 ModbusTCPSlaveSetup...........................................................................................................................................................................................................82
4.3.4 ExpandedProtocol-PROFINETIODevice(PNIOdevice)Setup..........................................................................................83
4.3.5 ExpandedProtocol-EtherNet/IPAdapter(EIPadapter)Setup....................................................................................................84
4.3.6 UsingExpandedProtocol............................................................................................................................................................................................................85
4.3.7 UsingGeneralPurposeRegister(GPR)...................................................................................................................................................................86
5. Robot Mode and State............................. 87
5.1 ManualMode.....................................................................................................87
5.2 Automatic Mode................................................................................................88
5.3 Other Mode........................................................................................................89
5.4 State and Flange LED Color for Each Mode................................................90
6. Safety Functions ...................................... 92
6.1 Introduction.......................................................................................................92
6.2 Safety-Rated Stop Function...........................................................................93
6.2.1 EmergencyStopFunction..........................................................................................................................................................................................................94
6.2.2 ProtectiveStop...........................................................................................................................................................................................................................................95
6.3 Safety-Rated Monitoring Function................................................................96
6.4 Safety-Rated I/O................................................................................................98
7. Transportation.......................................... 99
7.1 Cautions during Transportation....................................................................99
7.2 Pose for Robot Transportation....................................................................100
7.3 Package Specifications.................................................................................101
8. Maintenance............................................ 102

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9. Disposal and Environment.................... 103
10. Product Warranty and Responsibility.. 104
10.1 Scope ofWarranty..........................................................................................104
10.2 Restrictions and Exceptions of Warranty..................................................105
10.3 Transfer............................................................................................................106
11. Indemnification....................................... 107
Annex A System Specifications .................... 108
A.1 Manipulator........................................................................................................108
A.1.1A0509(S).................................................................................................................................................................................................................................................................108
A.1.2A0912(S).................................................................................................................................................................................................................................................................109
A.2 Controller...........................................................................................................110
A.2.1CS-01(ACController).............................................................................................................................................................................................................................110
A.3 Emergency Stop Button..................................................................................111
A.3.1CS-01..........................................................................................................................................................................................................................................................................111
A.4 Smart Pendant (Option)..................................................................................112
A.4.1CS-01..........................................................................................................................................................................................................................................................................112
A.5 TeachPendant (Option)..................................................................................113
A.5.1TP-01...........................................................................................................................................................................................................................................................................113
A.6 FTS (A0509S, A0912S only)............................................................................114
A.7 DART Platform Installation Requirement(minimum, recommended)...115
Annex B Declaration and Certification ......... 116
B.1 Europe Declaration of Incorporation (Original)..........................................116
B.2 Europe Machinery Directive Attestation of Conformity............................117
B.3 Europe EMC DirectiveAttestationof Conformity......................................118

Doosan Robotics Installation(A-Series) Manual v1.8
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B.4 U.S.NRTL Certification (U.S., CANADA)......................................................119
B.5 Voluntary Safety Confirmation Declaration (KCs).....................................121
Annex C Stop Distance and Stop Time......... 125
C.1 Measurement Methods and Conditions.......................................................125
C.1.1GeneralInformation...................................................................................................................................................................................................................................125
C.1.2StopCategory:.................................................................................................................................................................................................................................................126
C.1.3Poseandconditionformeasurements:............................................................................................................................................................................127
C.2 A0509(S).............................................................................................................129
C.2.1StopCategory1.............................................................................................................................................................................................................................................129
C.2.2StopCategory0.............................................................................................................................................................................................................................................132
C.3 A0912(S).............................................................................................................133
C.3.1StopCategory1.............................................................................................................................................................................................................................................133
C.3.2StopCategory0.............................................................................................................................................................................................................................................136

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Preface
Thank you for choosing this Doosan Robotics product. Before installing the product, please read
through this manual and follow the instructions for each installation process provided in this manual.
The contents of this manual are current as of the date this manual was written, and product-related
information may be modified without prior notification to the user.
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.
For details of updated manuals, refer to the robot LAB website (https://robotlab.doosanrobotics.com/).
© 2021 Doosan Robotics Inc., All rights reserved
Open Source Software License Information (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
([email protected]).

Doosan Robotics Installation(A-Series) Manual v1.8
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1. Safety
This chapter provides safety information the user must be aware of before installing or operating the
robot. All robot’s have risks of high voltage, electricity and collision. Therefore, in order to minimize the
risk of injuries and mechanical damage, one must observe the basic safety cautions while operating
the robot and using related parts. To protect user safety and prevent property loss, make sure to read
and follow the instructions carefully. The contents of the manual and specifications of the product may
change for product and performance improvements.
1.1 Manual Indication Conventions
To communicate safety precautions related to the use of the product, the following symbols are
indicated in this manual.
Symbol
Name
Description
Danger
Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury
to the operator.
Warning
Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury
to the operator.
Caution
Failure to observe instructions with this symbol may result in
product damage or cause injury to the operator.
Note
This is additional information to help the user.

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1.2 Safety Symbols
Among the symbols used in this manual, symbols related to user safety are as follows:
Symbol
Description
Danger
This symbol means that immediate hazards can occur due to electrical conditions
such as high voltage. Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury to the operator.
Danger
This symbol means that immediate hazards can occur. Failure to observe
instructions with this symbol may result in serious accidents that could result in
death or serious injury to the operator.
Warning
This symbol means that potentially dangerous situations can occur due to electrical
conditions such as high voltage. Failure to observe instructions with this symbol may
result in serious accidents that could result in serious injury to the operator.
Warning
This symbol means potentially dangerous situations can occur. Failure to observe
instructions with this symbol may result in serious accidents that could result in
serious injury to the operator.
Caution
This symbol means dangerous situations can occur due to overheating. Failure to
observe instructions with this symbol may result in serious accidents that could
result in serious injury to the operator.
Caution
The product may become damaged or the operator may be injured.

Doosan Robotics Installation(A-Series) Manual v1.8
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1.3 General Instructions
This chapter describes general danger and warning items related to operating the robot.
•If the robot is installed with electrical devices, install the robot referring to the Installation
Manual.
•If the setting(Section 3.3.10 Emergency Stop Button Setting Switch) of the emergency stop
button setting switch(A-Series) is different from the actual configuration, the emergency stop
button may fail and cause injury to the user in an emergency situation, so check the setting
condition and operation of the emergency stop button.
•If a device is installed on the tool during robot installation, make sure to use appropriate bolts.
•Suitable safety measures, such as safety fences, must be implemented to protect the staff and
robot during installation.
•Do not wear loose-fitting clothes or accessories when operating the robot. If one’s hair is long,
make sure to tie up the hair to prevent it from getting caught between robot joints.
•Never operate a damaged robot.
•Take caution of the robot’s movement when using the teaching pendant and smart pendant (A-
series).
•If the teaching pendant warns the user of a critical error, immediately engage the emergency
stop switch, identify the cause of the error, resolve the error and then resume robot operation. If
the critical error cannot be resolved, contact the sales agent or robot supplier.
•Make sure to connect safety protection equipment to a safety interface. If such equipment is
connected to a general interface, the integrity of safety functions may not be guaranteed.
•Make sure to become completely familiar with the robot user manual prior to operating the robot.
•If the robot collides with an external object, a significant impact may be generated. The impact
the robot receives is proportionate to the kinetic energy, so higher speeds and high payload can
generate large impacts. Make sure to maintain a safe speed and payload during operation in
collaborative spaces.
•Direct teaching must only be performed in safe environments. Do not operate the robot if there
are sharp edges or jamming near the tool and its surroundings.
•Before performing direct teaching, make sure accurate inputs (tool length, weight, center of
gravity) are made. If inputs are different from the tool specification, direct teaching error or
malfunctioning can occur.
•To ensure user safety, joints may operate at a certain speed or higher, or the maximum speed of
the TCP may be limited during direct teaching. If the limit is exceeded, the protective stop
Warning
Warning