Doosan M0609 User manual

Doosan Robotics User Manual v2.6.1
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Preface .........................................................................................10
Copyright 10
Open Source Software License Information (OSS)............................................10
Vision License Policy Information.........................................................................10
1. Product Introduction..............................................................11
1.1 Robot Overview................................................................................................11
1.1.1 NamesofEachPart................................................................................................................................ 11
1.1.2 KeyFeatures............................................................................................................................................ 12
1.2 ControllerOverview.........................................................................................14
1.3 TeachPendantOverview................................................................................16
1.4 Smart Pendant(A-Series)...............................................................................17
1.5 Emergency Stop Button (A-Series)...............................................................18
1.6 SystemConfiguration......................................................................................19
2. Safety......................................................................................21
2.1 Safety Indications of User Manual.................................................................21
2.2 Precautions for Use .........................................................................................22
2.3 Types of Stop Modes for Safety ....................................................................24
2.4 Emergency Stop...............................................................................................25
2.5 Other Safety Measures....................................................................................27
2.6 SystemPower Cut-Off.....................................................................................28
3. Starting Up the Robot ............................................................29
3.1 SystemPower-Up.............................................................................................29
3.2 Emergency Stop Button Setting Switch (A-Series)...................................33
3.3 Booting and Disengaging Packing Position...............................................34
3.3.1 SystemBooting........................................................................................................................................ 34
3.3.2 DisengagingPackagingPose................................................................................................................ 35
3.4 Robot Mode andState.....................................................................................37

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3.4.1 ManualMode........................................................................................................................................... 37
3.4.2 AutomaticMode....................................................................................................................................... 38
3.4.3 OtherMode.............................................................................................................................................. 39
3.4.4 StatusandFlangeLEDColorforEachMode...................................................................................... 40
3.5 Functional Limits of each Robot Series.......................................................43
3.6 Robot Safety Setting........................................................................................46
3.6.1 SafetyLimitSetting................................................................................................................................... 47
3.6.2 SpaceLimitandZoneSetting................................................................................................................. 48
3.7 Application Recovery Mode Screen.............................................................49
3.7.1 UsingApplicationRecoveryModeFunctions....................................................................................... 49
3.8 Series Compatibility Error Screen.................................................................51
3.8.1 SeriesCompatibilityErrorScreenFunctions......................................................................................... 51
3.8.2 RobotSeriesSwap.................................................................................................................................. 52
4. Manual Robot Operation........................................................54
4.1 Jog Operation....................................................................................................54
4.2 Hand-Guiding Operation.................................................................................55
4.2.1 TeachPendantHand-GuidingButton................................................................................................... 55
4.2.2 CockpitButton(fivebuttons).................................................................................................................... 56
4.2.3 CockpitButton(sixbuttons)..................................................................................................................... 58
4.2.4 ClampingEscapebyCockpit................................................................................................................. 61
4.3 RobotTeaching andExecution.....................................................................62
5. System Operation Program Outline......................................63
5.1 StatusDisplay Area..........................................................................................64
5.2 Work Screen Area............................................................................................64
5.3 Main Menu..........................................................................................................65
6. Home Screen Overview .........................................................66
6.1 Task ExecutionandStopping........................................................................68

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6.2 LoadSavedTasks............................................................................................69
6.3 Tool Setting........................................................................................................70
7. Workcell Manager...................................................................72
7.1 What is a Workcell Item?.................................................................................72
7.2 Add Workcell Item............................................................................................74
7.3 Deprecated Workcell Item...............................................................................75
7.4 Unavailable Workcell Items............................................................................77
7.5 Robot Setting....................................................................................................78
7.5.1 WorldCoordinatesSetting...................................................................................................................... 80
7.5.2 RobotLimitsSetting.................................................................................................................................83
7.5.3 SafetyI/OSetting...................................................................................................................................... 86
7.5.4 NormalI/OSetting.................................................................................................................................... 90
7.5.5 SafetyStopModesSetting..................................................................................................................... 92
7.5.6 RobotInstallationPoseSetting............................................................................................................... 93
7.5.7 ToolShapeSetting.................................................................................................................................. 95
7.5.8 ToolWeightSetting.................................................................................................................................. 96
7.5.9 UserCoordinatesSetting........................................................................................................................ 98
7.5.10 NudgeSetting.......................................................................................................................................... 99
7.5.11 SpaceLimitandZoneSettingsOverview...........................................................................................100
7.5.12 SpaceLimitSettings..............................................................................................................................103
7.5.13 CollaborativeZoneSettings..................................................................................................................104
7.5.14 CrushingPreventionZoneSettings.....................................................................................................105
7.5.15 CollisionSensitivityReductionZoneSettings......................................................................................106
7.5.16 ToolOrientationLimitZoneSettings.....................................................................................................107
7.5.17 CustomZoneSettings..........................................................................................................................108
7.6 End Effector Setting.......................................................................................110
7.6.1 GrippersandTools................................................................................................................................110
7.6.2 EndEffectorI/OSignalSetting..............................................................................................................112
7.6.3 EndEffectorI/OTesting.........................................................................................................................113
7.6.4 ToolCenterPoint(TCP)Setting...........................................................................................................114
7.6.5 ToolCenterPointSettingbasedonOtherEndEffectors...................................................................116

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7.7 Machine Tool Setting.....................................................................................118
7.8 Peripheral Setting...........................................................................................119
7.8.1 Others.....................................................................................................................................................120
7.8.2 Vision.......................................................................................................................................................121
8. Task Builder..........................................................................122
8.1 Task Management..........................................................................................122
8.1.1 CreateNewTask...................................................................................................................................122
8.1.2 Template.................................................................................................................................................123
8.1.3 SaveTask..............................................................................................................................................124
8.1.4 SaveTaskAs.........................................................................................................................................125
8.1.5 EditingWorkcellItems...........................................................................................................................126
8.1.6 SaveTaskonExternalStorageDevice...............................................................................................127
8.1.7 LoadSavedTasks................................................................................................................................128
8.1.8 DeleteSavedTasks..............................................................................................................................129
8.1.9 ImportTasksonExternalStorageDevices.........................................................................................130
8.2 Task Builder Commands..............................................................................131
8.3 Deprecated SkillCommand..........................................................................134
8.4 EditTask...........................................................................................................135
8.4.1 EditTaskScreenConfiguration............................................................................................................135
8.4.2 AddCommand......................................................................................................................................137
8.4.3 DeleteCommand..................................................................................................................................138
8.4.4 Pastecommand....................................................................................................................................139
8.5 Setting andApplyingCommand Properties.............................................140
8.6 Motion Command Property Setting............................................................141
8.6.1 WaypointSetting....................................................................................................................................141
8.6.2 SpeedSetting.........................................................................................................................................142
8.6.3 ProgramLinkModeSetting..................................................................................................................143
8.6.4 BlendingModeSetting..........................................................................................................................144
8.6.5 Multi-Segment(Waypoint)Setting........................................................................................................145
8.7 Skill Command Property Setting.................................................................146

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8.7.1 UnderstandingBasicPrinciplesofSkillCommands...........................................................................146
8.7.2 ComplianceControlandContactCheck.............................................................................................149
8.7.3 SkillCommandWorkPointSettingwithCockpitButtons..................................................................151
8.8 Execute Task Program..................................................................................152
8.8.1 Virtualmodescreen...............................................................................................................................152
8.8.2 RealModeScreen:EndEffectorInformationtab...............................................................................154
8.8.3 RealModeScreen:I/OInformationTab..............................................................................................156
8.8.4 ExecuteTask.........................................................................................................................................158
9. Task Writer............................................................................159
9.1 Task Management..........................................................................................159
9.1.1 CreateNewTask...................................................................................................................................159
9.1.2 SaveTask..............................................................................................................................................160
9.1.3 SaveTaskAs.........................................................................................................................................161
9.1.4 SaveTaskonExternalStorageDevice...............................................................................................162
9.1.5 LoadSavedTasks................................................................................................................................163
9.1.6 DeleteSavedTasks..............................................................................................................................164
9.1.7 ImportTasksonExternalStorageDevices.........................................................................................165
9.1.8 ExportTasktoExternalStorageDevice..............................................................................................166
9.2 EditTaskProgram..........................................................................................167
9.3 Task Writer Command...................................................................................168
9.4 Setting andApplyingCommand Properties.............................................171
9.5 Execute Task Program..................................................................................172
9.6 DebugScreen..................................................................................................173
10.Monitoring and Testing........................................................174
10.1 Screen Layout.................................................................................................174
10.2 I/O Status Check.............................................................................................176
10.2.1 Controller/FlangeDigitalInputCheck...................................................................................................176
10.2.2 ControllerAnalogInputCheck..............................................................................................................177
10.2.3 Controller/FlangeDigitalOutputSetting...............................................................................................178
10.2.4 ControllerAnalogOutputSetting..........................................................................................................179

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10.3 I/O Test..............................................................................................................180
10.4 ModbusTest....................................................................................................181
10.5 ServoOn..........................................................................................................182
10.6 BackdriveMode..............................................................................................183
10.7 Safety Recovery Mode...................................................................................184
10.7.1 UsingSoftwareRecoveryMode..........................................................................................................185
10.7.2 PackagingModeSetting.......................................................................................................................186
11.Jog Function.........................................................................187
11.1 Jog Screen.......................................................................................................188
11.1.1 ExecutebasedonJoint.........................................................................................................................190
11.1.2 ExecutebasedonRobotBase............................................................................................................191
11.1.3 ExecutebasedonWorldCoordinates.................................................................................................192
11.1.4 ExecutebasedonRobotTool..............................................................................................................193
11.2 MovementScreen..........................................................................................194
11.2.1 MovingwithAngleSetting.....................................................................................................................195
11.2.2 MovewithBaseReferenceCoordinates............................................................................................196
11.2.3 MovewithWorldCoordinatesReferenceCoordinates.....................................................................197
11.2.4 MovewithToolReferenceCoordinates..............................................................................................198
11.3 Align Screen....................................................................................................199
11.3.1 AlignmentbasedonBaseAxis/WorldAxis.........................................................................................200
11.3.2 GotoHome............................................................................................................................................201
11.3.3 AlignmentbasedonTarget...................................................................................................................202
11.3.4 AlignmentbasedonWorkcellItems.....................................................................................................204
11.4 Jog Plus (Jog+)...............................................................................................205
12.Environment Setting ............................................................208
12.1 LanguageSetting...........................................................................................208
12.2 Date and Time Setting...................................................................................209
12.3 Robot Setting..................................................................................................210
12.3.1 RobotHomePositionSetting...............................................................................................................210

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12.3.2 CockpitSetting........................................................................................................................................211
12.3.3 RemoteControlSetting.........................................................................................................................212
12.3.4 SmartPendantSetting..........................................................................................................................215
12.4 Change andDisablePassword....................................................................218
12.5 UserRole Setting............................................................................................219
12.6 Network Setting..............................................................................................220
12.6.1 User-definedModbusSupportFunctionCode...................................................................................220
12.6.2 RegisterUser-definedModbus............................................................................................................221
12.6.3 RegisterPresetModbus.......................................................................................................................222
12.7 SystemUpdate................................................................................................223
12.7.1 UnifiedUpdate........................................................................................................................................223
12.7.2 SystemRestore.....................................................................................................................................225
12.8 Check and Enter Robot License Code.......................................................227
12.9 Check Log........................................................................................................228
12.9.1 CheckingLogMessages......................................................................................................................228
12.9.2 CheckingReal-timeLogMessagesDuringProgramExecution......................................................228
12.9.3 ExtractLog..............................................................................................................................................228
12.10 Factory Reset.......................................................................................229
12.10.1 DeleteLog..............................................................................................................................................229
12.10.2 LicenseTypeandFactoryResetRangeaccordingtoVisionConnection.......................................230
12.11 ScreenSaver Mode Setting...............................................................231
12.12 Idle Servo Off........................................................................................232
12.13 Friction Calibration..............................................................................233
12.14 KT Smart Factory Setting Screen.....................................................234
12.15 Backup & Restore................................................................................235
12.16 Workcell & SkillInstallation and Removal......................................238
13.Smart Pendant (A Series) ....................................................239
13.1 Functions of Smart Pendant ........................................................................239
13.2 Smart Pendant RobotLED Color................................................................241

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Annex A. Upper/Lower Threshold Range and Default Value of
Safety Parameters .....................................................................242
A.1 M1509242
A.2 M1013243
A.3 M0617244
A.4 M0609245
A.5 A0509, A0509S..................................................................................................246
A.6 A0912, A0912S..................................................................................................247
A.7 H2515 248
A.8 H2017 249
Appendix B. Welding Work Overview ......................................250
EtherNet/IP Interface Welding Machine Connection Example .......................250
Flow of Welding Work Utilizing Doosan Robots...............................................250

Preface
This User Manual introduces robot work management and operation methods.
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 right, the user will be fully
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 on 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]om).
Vision License Policy Information
If a registered Vision license is removed, the Vision category and all Vision-related items on the New
Peripheral list in the WCM become hidden.
Various Vision-related items in different locations of the teach pendant, such as Vision Preview,
become hidden.
If an unregistered Vision license is registered, the hidden Vision category and all Vision-related items
on the New Peripheral list in the WCM are displayed. Various Vision-related items in different locations
of the teach pendant, such as Vision Preview, are displayed.
If a registered Vision license is removed and re-registered, and if the initial Vision license registration
created Vision-related items, setting a non-Vision license and re-registering the Vision license will
display the Vision-related items created during the initial registration.

1. Product Introduction
1.1 Robot Overview
1.1.1 Names of Each Part
No.
Name
No.
Name
1
Base
6
J4
2
J1
7
Link2
3
J2
8
J5
4
Link1
9
J6
5
J3
10
Tool Flange
10
2
9
8
1
4
6
5
7
3

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1.1.2 Key Features
No.
Item
Description
1
Cockpit
[Option] Controller used for direct teaching.
2
Tool Flange
Area to install tools.
3
Flange LED
Displays the robot status with different colors. For more information
about robot status, refer to the “3.4.4 Status and Flange LED Color
for Each Mode.”
4
Flange I/O
I/O port for tool control.
(Digital input 3ch, output 3ch)
5
Connector
Used for supplying power to and communication of the robot.
1
2
4
3
5

13
No.
Item
Description
1
Cockpit
[Option] Controller used for direct teaching.
2
Tool Flange
Area to install tools.
3
Flange I/O
I/O port for tool control.
(Digital input 2ch, output 2ch)
4
LED (1-axis)
Displays the robot status with different colors. For more information
about robot status, refer to the “3.4.4 Status and Flange LED Color
for Each Mode”
5
Connector
Used for supplying power to and communication of the robot.

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1.2 Controller Overview
No.
Item
Description
1
I/O connection
terminal (internal)
Used to connect the controller or peripherals.
2
Teach pendant cable
connection terminal
Used to connect the teach pendant cable to the controller.
3
Power switch
Used to turn ON/OFF the main power of the controller.
4
Robot cable
connection terminal
Used to connect the robot cable to the controller.
5
Power connection
terminal
Used to connect the controller power supply.
2
1
4
3
5

15
No.
Item
Description
1
I/O connection terminal
(internal)
Used to connect the controller or peripherals.
2
Emergency Stop Button
Setting switch
To use the Teach Pendant, Smart Pendant, or Emergency
Stop buttons, the switch must be set to match the actual
configuration.
3
Emergency stop button
and smart pendant
connection terminal
Connects the emergency stop button or smart pendant cable
to the controller.
4
Teach pendant cable
connection terminal
Used to connect the teach pendant cable to the controller.
5
Robot cable connection
terminal
Used to connect the robot cable to the controller.
6
Power connection
terminal
Used to connect the controller power supply.
7
Main power switch
Used to turn ON/OFF the main power of the controller.
For more information, refer to 3.1 System Power-Up.

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1.3 Teach Pendant Overview
No.
Item
Description
1
Power Button
Used to turn ON/OFF the main power of the teach pendant.
For more information, refer to 3.1 System Power-Up
2
Power LED
Turns ON when power is supplied.
3
Emergency stop
button
In case of an emergency, press the button to stop robot operation.
4
Hand-Guiding
button
Press and hold the button to move the robot freely into a desired
pose.
※ The teach pendant is not a standard item but an optional item, so it must be purchased separately
3
1
2
4

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1.4 Smart Pendant (A-Series)
No.
Item
Description
1
Robot LED
Used to indicate the robot status by displaying the same color as the
robot status LED to the user.
2
Device LED
Used to indicate whether the system entered smart pendant mode.
3
Function LED
When four input signal buttons (F1 to F4) are pressed, the LED lights
up and indicates the press status
4
Buttons
There are a total of 11 buttons including four input signal buttons (F1-
F4) for each function, home, servo, auto, play, stop, resume and
pause.
5
Emergency Stop
Button
In case of an emergency, press the button to stop robot operation.
6
Power Button
Used to turn ON/OFF the main power of the smart pendant.
7
Strap Anchor
Used to add a strap to the device.
8
Holder bracket
Install the holder bracket on a wall to store the smart pendant.
※ The smart pendant is not a standard item but an optional item, so it must be purchased separately

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1.5 Emergency Stop Button (A-Series)
No.
Item
Description
1
Emergency Stop
Button:
In case of an emergency, press the button to stop robot operation.

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1.6 System Configuration
Command/
Monitoring
Power
Supply/
Network
Laptop
Controller
Robot
Teach pendant
•Laptop: After installing the DART Platform, a work environment identical to the teach pendant
can be set up.
•Teach Pendant: It is a device that manages the overall system, and it is capable of teaching the
robot specific poses and setting robot and controller related settings.
•Controller: It controls the robot’s movement according to the pose or movement set by the teach
pendant. It features various I/O ports that allow the connection and use of various equipment and
devices.
•Robot: It is an industrial collaborative robot that can perform transport or assembly tasks with
various tools.

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Command/
Monitoring
Power
Supply/
Network
Laptop
Controller
Robot
Command
Teach Pendant**
Smart Pendant**/
Emergency Stop Button
•Laptop: After installing the DART Platform, a work environment identical to the teach pendant
can be set up.
•Teach Pendant**: This is a device that manages the overall system, and it is capable of
teaching the robot specific poses and setting the robot and items related to the installation of the
controller and robot. (purchased separately as an option)
•Controller: It controls the robot’s movement according to the pose or movement set by the
teach pendant. It features various I/O ports that allow the connection and use of various
equipment and devices.
•Smart Pendant**: The robot can be easily controlled using a pendant capable of performing
simple functions such as turning on the servo ON/OFF or executing/closing preset programs.
(purchased separately as an option)
•Emergency Stop Button: If a laptop is used as part of the system, it acts as the emergency
stop button of the teach pendant.
•Robot: It is an industrial collaborative robot that can perform transport or assembly tasks with
various tools.
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