Doosan M0609 User manual

Manual Version 1.9
Software Version 2.5

Doosan Robotics User Manual v1.9
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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