Doosan M0609 User manual

Manual Version 1.9
Software Version 2.5

Doosan Robotics User Manual v1.9
2
Preface ........................................................................................... 8
Copyright 8
Open Source Software License Information (OSS)...............................................8
Vision License Policy Information............................................................................8
1. Product Introduction................................................................ 9
1.1 Robot Overview...................................................................................................9
1.1.1 NamesofEachPart......................................................................................................................................................9
1.1.2 KeyFeatures................................................................................................................................................................10
1.2 Control Box Overview ......................................................................................12
1.3 TeachPendantOverview.................................................................................14
1.4 SmartPendant(A-Series)................................................................................15
1.5 EmergencyStop Button (A-Series)................................................................16
1.6 System Configuration.......................................................................................17
2. Safety...................................................................................... 19
2.1 SafetyIndications of UserManual..................................................................19
2.2 Precautions for Use ..........................................................................................20
2.3 Types of Stop Modes for Safety .....................................................................22
2.4 EmergencyStop................................................................................................23
2.5 OtherSafetyFunctions....................................................................................25
2.6 System Power Cut-Off......................................................................................26
3. Starting Up the Robot ............................................................ 27
3.1 System Power-Up..............................................................................................27
3.2 DIP Switch Setting (A-Series)..........................................................................31
3.3 Booting and Disengaging Packing Position................................................32
3.3.1 SystemBooting...........................................................................................................................................................32
3.3.2 DisengagingPackagingPose................................................................................................................................33
3.4 Robot Mode and Status....................................................................................35
3.4.1 ManualMode...............................................................................................................................................................35
3.4.2 AutoMode.....................................................................................................................................................................35

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3.4.3 StatusandFlangeLEDColorforEachMode...................................................................................................36
3.5 Robot SafetySetting.........................................................................................38
3.5.1 SafetyLimitSetting......................................................................................................................................................38
3.5.2 WorkAreaSetting.......................................................................................................................................................38
4. Manual Robot Operation........................................................ 39
4.1 Jog Operation.....................................................................................................39
4.2 Hand-Guiding Operation..................................................................................39
4.2.1 TeachPendantHand-GuidingButton..................................................................................................................39
4.2.2 CockpitButton(fivebuttons).....................................................................................................................................40
4.2.3 CockpitButton(sixbuttons)......................................................................................................................................42
4.3 Robot Teaching andExecution......................................................................44
5. System Operation Program Outline...................................... 45
5.1 StatusDisplayArea...........................................................................................46
5.2 Work Screen Area.............................................................................................46
5.3 Main Menu...........................................................................................................47
6. Home Screen Overview ......................................................... 49
6.1 Task ExecutionandStopping.........................................................................51
6.2 Load Saved Tasks.............................................................................................52
6.3 Tool Setting.........................................................................................................53
7. Workcell Manager................................................................... 55
7.1 Whatisa WorkcellItem?..................................................................................55
7.2 Add Workcell Item.............................................................................................57
7.3 Deprecated Workcell Item................................................................................58
7.4 Robot Setting .....................................................................................................60
7.4.1 WorldCoordinatesSetting........................................................................................................................................62
7.4.2 RobotLimitsSetting....................................................................................................................................................64
7.4.3 SafetyI/OSetting.........................................................................................................................................................68
7.4.4 SafetyStopModesSetting.......................................................................................................................................71
7.4.5 RobotInstallationPoseSetting................................................................................................................................72
7.4.6 ToolShapeSetting.....................................................................................................................................................73
7.4.7 ToolWeightSetting.....................................................................................................................................................74

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7.4.8 UserCoordinatesSetting..........................................................................................................................................76
7.4.9 NudgeSetting...............................................................................................................................................................78
7.4.10 RobotOperationEnvironmentTypes...................................................................................................................79
7.4.11 RobotWorkSpaceSetting......................................................................................................................................82
7.4.12 CollaborativeWorkSpaceSetting.........................................................................................................................83
7.4.13 ProtectionSectionSetting.........................................................................................................................................85
7.4.14 DisableCollisionDetectionSectionSetting.........................................................................................................86
7.4.15 SpaceLimitSetting.....................................................................................................................................................87
7.4.16 CollaborativeWorkspaceSetting...........................................................................................................................87
7.4.17 CollisionPreventionSectionSetting.......................................................................................................................87
7.4.18 CollisionSensitivityReductionSectionSetting....................................................................................................88
7.4.19 ToolDirectionChangeLimitSectionSetting.......................................................................................................88
7.4.20 CustomSection...........................................................................................................................................................88
7.5 End Effector Setting..........................................................................................90
7.5.1 GrippersandTools.....................................................................................................................................................90
7.5.2 EndEffectorI/OSignalSetting................................................................................................................................92
7.5.3 EndEffectorI/OTesting.............................................................................................................................................93
7.5.4 ToolRotationAngle(A,B,C)withinToolCenterPointSetting......................................................................94
7.5.5 ToolCenterPointSettingbasedonOtherEndEffectors................................................................................96
7.6 Machine Tool Setting........................................................................................98
7.7 Peripheral Setting..............................................................................................99
7.7.1 Others...........................................................................................................................................................................101
7.7.2 Vision.............................................................................................................................................................................101
8. Task Builder.......................................................................... 102
8.1 Task Management...........................................................................................102
8.1.1 CreateNewTask......................................................................................................................................................102
8.1.2 Template......................................................................................................................................................................102
8.1.3 SaveTask...................................................................................................................................................................103
8.1.4 SaveTaskAs.............................................................................................................................................................103
8.1.5 EditingWorkcellItems..............................................................................................................................................103
8.1.6 SaveTaskonExternalStorageDevice.............................................................................................................104
8.1.7 LoadSavedTasks...................................................................................................................................................104
8.1.8 DeleteSavedTasks.................................................................................................................................................104
8.1.9 ImportTasksonExternalStorageDevices.......................................................................................................104
8.2 Task Builder Commands...............................................................................106
8.3 Deprecated SkillCommand...........................................................................109
8.4 EditTask............................................................................................................110
8.4.1 EditTaskScreenConfiguration............................................................................................................................111
8.4.2 AddCommand..........................................................................................................................................................112
8.4.3 DeleteCommand.....................................................................................................................................................112
8.4.4 Pastecommand........................................................................................................................................................112

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8.5 Setting and Applying Command Properties..............................................114
8.6 Motion Command PropertySetting.............................................................115
8.6.1 WaypointSetting.......................................................................................................................................................115
8.6.2 SpeedSetting.............................................................................................................................................................115
8.6.3 OperationModeSetting..........................................................................................................................................116
8.6.4 BlendingModeSetting............................................................................................................................................116
8.6.5 Multi-Segment(Waypoint)Setting.......................................................................................................................116
8.7 SkillCommandProperty Setting..................................................................118
8.7.1 UnderstandingBasicPrinciplesofSkillCommands......................................................................................118
8.7.2 ComplianceControlandContactCheck...........................................................................................................121
8.7.3 SkillCommandWorkPointSettingwithCockpitButtons.............................................................................122
8.8 Execute Task Program...................................................................................123
8.8.1 Virtualmodescreen..................................................................................................................................................123
8.8.2 RealModeScreen:EndEffectorInformationtab............................................................................................124
8.8.3 RealModeScreen:I/OInformationTab............................................................................................................127
8.8.4 ExecuteTask..............................................................................................................................................................129
9. Task Writer............................................................................ 130
9.1 Task Management...........................................................................................130
9.1.1 CreateNewTask......................................................................................................................................................130
9.1.2 SaveTask...................................................................................................................................................................130
9.1.3 SaveTaskAs.............................................................................................................................................................130
9.1.4 SaveTaskonExternalStorageDevice.............................................................................................................131
9.1.5 LoadSavedTasks...................................................................................................................................................131
9.1.6 DeleteSavedTasks.................................................................................................................................................131
9.1.7 ImportTasksonExternalStorageDevices.......................................................................................................131
9.1.8 ExportTasktoExternalStorageDevice............................................................................................................132
9.2 EditTaskProgram...........................................................................................134
9.3 Task WriterCommand....................................................................................135
9.4 Setting and Applying Command Properties..............................................138
9.5 Execute Task Program...................................................................................139
9.6 DebugScreen...................................................................................................140
10.Monitoring and Testing........................................................ 141
10.1 ScreenLayout..................................................................................................142
10.2 I/O Status Check..............................................................................................143
10.2.1 ControlBox/FlangeDigitalInputCheck..............................................................................................................143
10.2.2 ControlBoxAnalogInputCheck..........................................................................................................................143
10.2.3 ControlBox/FlangeDigitalOutputSetting..........................................................................................................143

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10.2.4 ControlBoxAnalogOutputSetting......................................................................................................................144
10.3 I/O Test...............................................................................................................145
10.4 Modbus Test.....................................................................................................146
10.5 Servo On...........................................................................................................147
10.6 Zero-GravityMotion Mode.............................................................................148
10.7 SafetyRecoveryMode....................................................................................149
10.7.1 UsingSoftwareRecoveryMode..........................................................................................................................150
10.7.2 PackagingModeSetting.........................................................................................................................................151
11.Jog Function......................................................................... 152
11.1 Jog Screen........................................................................................................153
11.1.1 ExecutebasedonJoint...........................................................................................................................................155
11.1.2 ExecutebasedonRobotBase............................................................................................................................156
11.1.3 ExecutebasedonWorldCoordinates...............................................................................................................157
11.1.4 ExecutebasedonRobotTool..............................................................................................................................158
11.2 MovementScreen...........................................................................................159
11.2.1 MovingwithAngleSetting......................................................................................................................................159
11.2.2 MovewithBaseReferenceCoordinates...........................................................................................................160
11.2.3 MovewithWorldCoordinatesReferenceCoordinates.................................................................................161
11.2.4 MovewithToolReferenceCoordinates.............................................................................................................161
11.3 Setting Screen..................................................................................................162
11.3.1 AlignmentbasedonBaseAxis/WorldAxis.......................................................................................................163
11.3.2 GotoHome................................................................................................................................................................164
11.3.3 AlignmentbasedonTarget....................................................................................................................................164
11.3.4 AlignmentbasedonWorkcellItems....................................................................................................................165
12.Environment Setting ............................................................ 167
12.1 LanguageSetting............................................................................................167
12.2 Date and Time Setting....................................................................................168
12.3 Robot Setting...................................................................................................169
12.3.1 RobotHomePositionSetting................................................................................................................................169
12.3.2 CockpitSetting............................................................................................................................................................169
12.3.3 RemoteControlSetting...........................................................................................................................................169
12.3.4 ProcessButtonSetting............................................................................................................................................170
12.4 ChangeandDisable Password.....................................................................173
12.5 UserRole Setting.............................................................................................174
12.6 Network Setting...............................................................................................175

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12.6.1 ModbusTCP/RTUSetting.....................................................................................................................................175
12.6.2 ModbusTCPMasterSetting..................................................................................................................................176
12.6.3 ModbusRTUMasterSetting.................................................................................................................................176
12.7 System Update.................................................................................................177
12.7.1 Update..........................................................................................................................................................................177
12.7.2 SystemRestore.........................................................................................................................................................178
12.8 Check and Enter Robot License Code........................................................179
12.9 Check Log.........................................................................................................180
12.9.1 SystemLog.................................................................................................................................................................180
12.9.2 ExtractLog...................................................................................................................................................................180
12.10 FactoryReset........................................................................................181
12.10.1 DeleteLog...................................................................................................................................................................181
12.10.2 LicenseTypeandFactoryResetRangeaccordingtoVisionConnection..............................................181
12.11 Screen Saver Mode Setting................................................................182
12.12 IdleServo Off.........................................................................................183
12.13 Friction Calibration...............................................................................184
12.14 KT Smart FactorySetting Screen......................................................185
12.15 Backup & Restore.................................................................................186
Annex A. Control Box for AGV ................................................. 187
A.1 Product Introduction.........................................................................................187
A.1.1ControlBoxOverview.....................................................................................................................................................187
A.1.2SystemConfiguration.....................................................................................................................................................188
A.2 Safety 189
A.2.1SystemPowerCut-Off....................................................................................................................................................189

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/).
*© 2018 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]).
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 “3.4.3 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

11
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 “3.4.3 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 Control Box Overview
No.
Item
Description
1
I/O connection
terminal (internal)
Used to connect the control box or peripherals.
2
Teach pendant cable
connection terminal
Used to connect the teach pendant cable to the control box.
3
Power switch
Used to turn ON/OFF the main power of the control box.
4
Robot cable
connection terminal
Used to connect the robot cable to the control box.
5
Power connection
terminal
Used to connect the control box power supply.
2
1
4
3
5

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No.
Item
Description
1
I/O connection terminal
(internal)
Used to connect the control box or peripherals.
2
Emergency stop button
and smart pendant
connection terminal
Connects the emergency stop button or smart pendant cable
to the control box.
3
Teach pendant cable
connection terminal
Used to connect the teach pendant cable to the control box.
4
Robot cable connection
terminal
Used to connect the robot cable to the control box.
5
Power connection terminal
Used to connect the control box power supply.
6
Power switch
Used to turn ON/OFF the main power of the control box.

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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.
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
Teach pendant
Control box
Robot
•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 control box related settings.
•Control Box: 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.
000
000

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Command/
Monitoring
Power
Supply/
Network
Laptop
Control Box
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 control
box and robot. (purchased separately as an option)
•Control Box: 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.
000
000
0
0
0
1
ㅇ
ㅇ
ㅇ
ㅇ
1
1
1
ㅇ
ㅇ
ㅇ
ㅇ
1
1
2
ㅇ
ㅇ
ㅇ
ㅇ
1
1
4
ㅇ
ㅇ
ㅇ
ㅇ
1
1
5
ㅇ
ㅇ
ㅇ
ㅇ
1
1
3
ㅇ
ㅇ
ㅇ
ㅇ
1
1
6
ㅇ
ㅇ
ㅇ
ㅇ
1
1
2
ㅇ
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ㅇ
1
1
3
ㅇ
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1
1
4
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1
1
5
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1
1
6
ㅇ
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1
1
1

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2. Safety
2.1 Safety Indications of User Manual
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 accidents that
cause severe injury to the operator.
Caution
Failure to observe instructions with this symbol may result in product damage
or cause injury to the operator.

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2.2 Precautions for Use
Danger
•Do not operate the robot if the robot is abnormal. The user may be injured.
•Do not put fingers inside the control box with power supplied. Live cables are connected, which
may lead to electrocution or injury.
•Do not modify the robot. Doosan Robots is not responsible for for any issues that occur due to
unauthorized modification.
•Do not enter the robot’s operation area or touch the robot when it is operating. This may lead to
colliding with the robot, resulting in damage to the robot or injury to the individual.
Warning
•Make sure to read and understand the manuals for all equipment installed.
•To prevent accidents by getting caught by the robot, do not wear loose clothing or accessories
when operating the robot. Tie long hair to prevent accidents with hair getting caught by the robot.
•The surfaces of the robot and control box are hot during operation due to the heat generated, so
do not handle or touch these surfaces during or immediately after operation. Failure to do so may
result in burns.
•If excessive heat is generated by the robot, turn off the robot and wait for an hour.
•Hand-guiding must only be used if risk assessment approves its use.
•If an error occurs on the control box or the teach pendant, activate the emergency stop function,
identify the cause of the error, find the error code on the log screen and contact the supplier.
Caution
•Take caution of the robot’s movement when using the teach pendant. Failure to do so may lead
to colliding with the robot, resulting in damage to the robot or injury to the individual.
•Collision with an object generates considerable kinetic energy, leading to dangerous situations.
This energy is proportionate to the speed and payload. (Kinetic Energy = 1/2 Mass x Speed2)
•Combining different machines may increase existing risks or create new risks. When a robot is
integrated into a system, perform risk assessment of the entire system.
•If different safety levels and emergency stop performance levels are required, always select the
higher level.
•If a machine that can cause damage to the robot is integrated, it is recommended to individually
test all functions and robot programs.
•It is recommended to test the robot program by designating temporary waypoints outside another
machine’s work space. Doosan Robotics is not responsible for damages that occur due to
programming error or robot malfunctioning, as well as damage to the equipment.
•Do not expose the robot to strong magnetic fields. This may damage the robot or cause
malfunctions.