Doosan M0609 User manual

This manual is composed of four parts.Part 1 describes Workcell Item Setting options, part 2 describes Task
program commands and Template Setting options, part 3 describes the operation and use of the Smart Vision
module, and part 4 describes how to operate conveyor tracking.
The contents of this manual are current as of the date the manual was written, and product-related information
may be modified without prior notification to the user.
Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is
therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In the
event of abuse or modification of the patent rights, the user will be solely responsible for the consequences.
While the information in this manual is reliable, Doosan Robotics will not be held 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 manual 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.

Part 1 Workcell Item..............................................................................................10
1. Workcell Item Summary................................................................................11
1.1 WorkcellItemCommonSettingOptions..........................................................................................11
2. End Effector.....................................................................................................12
2.1 Gripper.........................................................................................................................................................12
2.1.1 PneumaticGripper..................................................................................................................................................................................12
2.1.2 VacuumGripper......................................................................................................................................................................................12
2.1.3 ElectricGripper..........................................................................................................................................................................................12
2.2 Screwdriver.................................................................................................................................................12
2.3 GluingTool.................................................................................................................................................13
2.4 DeburringTool...........................................................................................................................................13
2.5 AirBlowNozzle.........................................................................................................................................14
2.6 Polish............................................................................................................................................................14
3. Machine............................................................................................................15
3.1 PressMachine...........................................................................................................................................15
3.2 Turning Center...........................................................................................................................................15
3.3 InjectionMoldingMachine....................................................................................................................16
4. Peripherals.......................................................................................................17
4.1 Pallet..............................................................................................................................................................17
4.2 Pallet (Stack)...............................................................................................................................................17
4.3 Pallet (Rhombus)......................................................................................................................................18
4.4 LinePattern.................................................................................................................................................19

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4.5 ShootingBoltFeeder..............................................................................................................................19
4.6 Pick-upBoldFeeder................................................................................................................................19
5. Additional Workcell Items.............................................................................20
5.1 CommonSettingOptions......................................................................................................................20
5.2 Additional Workcell ItemList................................................................................................................20
5.2.1 Schmalz-FXCB......................................................................................................................................................................................20
5.2.2 Shumalz-CobotPump.........................................................................................................................................................................21
5.2.3 Shunk-MPG............................................................................................................................................................................................21
5.2.4 Shunk-Co-act..........................................................................................................................................................................................22
5.2.5 Zimmer-GEP2000................................................................................................................................................................................22
5.2.6 Zimmer-HCR03.....................................................................................................................................................................................23
5.2.7 Robotiq-2F-85.........................................................................................................................................................................................24
5.2.8 Robotiq-2F-140......................................................................................................................................................................................26
5.2.9 Robotiq-Hand-E.....................................................................................................................................................................................27
5.2.10 Robotiq-3-Finger....................................................................................................................................................................................29
5.2.11 Sick-SafetyLaserScanner.................................................................................................................................................................30
5.2.12 Sick-SafetyLightCurtain......................................................................................................................................................................31
5.2.13 Omron-MC3...........................................................................................................................................................................................31
5.2.14 Doosan-LynxSeries.............................................................................................................................................................................32
5.2.15 Doosan-PumaSeries..........................................................................................................................................................................35
5.2.16 OnRobotRG2..........................................................................................................................................................................................37
5.2.17 OnRobotRG6..........................................................................................................................................................................................38
5.2.18 Zimmer_HCR-03-DIO..........................................................................................................................................................................40
5.2.19 DynabradeRoboticSanders...............................................................................................................................................................40
Part 2 Task Programming Commands and Templates...............................41
1. Skill Command................................................................................................42
1.1 SkillCommandSummary......................................................................................................................42
1.2 Understanding BasicPrinciplesofSkillCommands...................................................................42

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1.3 ComplianceControl andContactCheck..........................................................................................45
1.4 CommonSettingOptions forSkillCommands.............................................................................46
1.5 SkillCommandList..................................................................................................................................47
1.5.1 Airblow........................................................................................................................................................................................................47
1.5.2 BoltShooting.............................................................................................................................................................................................48
1.5.3 Check..........................................................................................................................................................................................................48
1.5.4 CloseTCChuck......................................................................................................................................................................................48
1.5.5 CloseTCDoor.........................................................................................................................................................................................49
1.5.6 CloseTCManualDoor.........................................................................................................................................................................49
1.5.7 Deburr(Hole).............................................................................................................................................................................................50
1.5.8 Deburr(Hole)Line...................................................................................................................................................................................50
1.5.9 Deburr(Hole)Pallet.................................................................................................................................................................................50
1.5.10 Destacking.................................................................................................................................................................................................51
1.5.11 DestackingLine........................................................................................................................................................................................52
1.5.12 DestackingPallet......................................................................................................................................................................................52
1.5.13 End...............................................................................................................................................................................................................53
1.5.14 Glue(Point)................................................................................................................................................................................................53
1.5.15 Glue(Point)Line.......................................................................................................................................................................................53
1.5.16 Glue(Point)Pallet.....................................................................................................................................................................................54
1.5.17 Grasp...........................................................................................................................................................................................................54
1.5.18 Insert.............................................................................................................................................................................................................54
1.5.19 MachineReset.........................................................................................................................................................................................56
1.5.20 OpenTCChuck......................................................................................................................................................................................56
1.5.21 OpenTCDoor.........................................................................................................................................................................................56
1.5.22 OpenTCManualDoor.........................................................................................................................................................................56
1.5.23 Pick...............................................................................................................................................................................................................56
1.5.24 PickInjectionMoldingMachine...........................................................................................................................................................57
1.5.25 PickLine......................................................................................................................................................................................................58
1.5.26 PickPallet...................................................................................................................................................................................................58
1.5.27 PickPressMachine................................................................................................................................................................................59
1.5.28 PickTCChuck.........................................................................................................................................................................................59
1.5.29 Place............................................................................................................................................................................................................60
1.5.30 PlaceLine...................................................................................................................................................................................................60

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1.5.31 PlacePallet.................................................................................................................................................................................................61
1.5.32 PlacePressMachine.............................................................................................................................................................................61
1.5.33 PlaceTCChuck.......................................................................................................................................................................................62
1.5.34 Polish(Hole)...............................................................................................................................................................................................62
1.5.35 Polish(Hole)Line.....................................................................................................................................................................................62
1.5.36 Polish(Hole)Pallet...................................................................................................................................................................................63
1.5.37 Push.............................................................................................................................................................................................................64
1.5.38 Release.......................................................................................................................................................................................................64
1.5.39 RobotOnline.............................................................................................................................................................................................64
1.5.40 Run...............................................................................................................................................................................................................65
1.5.41 ScrewPickReadyCheck.....................................................................................................................................................................65
1.5.42 Screwdrive.................................................................................................................................................................................................65
1.5.43 ScrewdriveLine........................................................................................................................................................................................66
1.5.44 Stacking......................................................................................................................................................................................................66
1.5.45 StackingLine.............................................................................................................................................................................................67
1.5.46 StackingPallet...........................................................................................................................................................................................67
1.5.47 StartDeburr................................................................................................................................................................................................68
1.5.48 StartGlue....................................................................................................................................................................................................68
1.5.49 StartInjectionMoldingMachine...........................................................................................................................................................69
1.5.50 StartPolish.................................................................................................................................................................................................70
1.5.51 StartPressMachine................................................................................................................................................................................70
1.5.52 StartTC.......................................................................................................................................................................................................70
1.5.53 SteadyRestClamp.................................................................................................................................................................................70
1.5.54 SteadyRestUnclamp............................................................................................................................................................................71
1.5.55 Stop..............................................................................................................................................................................................................71
1.5.56 TailstockForward.....................................................................................................................................................................................72
1.5.57 TailstockBackward.................................................................................................................................................................................72
1.5.58 Touch..........................................................................................................................................................................................................72
1.5.59 WorkpieceClean.....................................................................................................................................................................................72
2. Task Template.................................................................................................73
2.1 Part Handling.............................................................................................................................................73
2.1.1 SingleGripper...........................................................................................................................................................................................73
2.1.2 DoubleGripper.........................................................................................................................................................................................73

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2.2 CNCMachineTending............................................................................................................................73
2.2.1 SingleGripper...........................................................................................................................................................................................74
2.2.2 DoubleGripper.........................................................................................................................................................................................74
2.3 PressMachineTending..........................................................................................................................75
2.3.1 SingleGripper...........................................................................................................................................................................................75
2.3.2 DoubleGripper.........................................................................................................................................................................................76
2.4 InjectionMoldingMachineTending...................................................................................................76
2.5 ScrewDrive.................................................................................................................................................76
2.6 Gluing...........................................................................................................................................................78
2.7 Deburring....................................................................................................................................................78
2.8 Polishing......................................................................................................................................................78
Part 3 Smart Vision Module.................................................................................79
1. Precautions Before Use................................................................................80
2. Setting with Workcell Manager....................................................................81
2.1 Camera Connection.................................................................................................................................81
2.2 Vision Job>ManageJob......................................................................................................................82
2.2.1 CreateVisionJob.....................................................................................................................................................................................82
2.2.2 EditandDeleteVisionJob....................................................................................................................................................................83
2.3 Vision Job>Set Image...........................................................................................................................85
2.3.1 SaveandLoadLighting/Exposure/Gain/FocusSetting..............................................................................................................85
2.3.2 CameraCalibration.................................................................................................................................................................................87
2.4 Vision Job>EditJob..............................................................................................................................94
2.4.1 VisionToolTeachingAreaSetting.....................................................................................................................................................94
2.4.2 VisionToolTeachingLimitAreaSetting...........................................................................................................................................98
2.4.3 CreatePositionToolandSetTeachingArea.............................................................................................................................. 100

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2.4.4 CreatePresenceToolandSetTeachingArea.......................................................................................................................... 102
2.4.5 CreateDistanceToolandSetTeachingArea............................................................................................................................ 105
2.4.6 CreateAngleToolandSetTeachingArea.................................................................................................................................. 108
2.4.7 CreateDiameterToolandSetTeachingArea........................................................................................................................... 111
2.5 Vision Job>Test................................................................................................................................... 114
3. Programming.................................................................................................116
3.1 Vision CommandSettingOptions................................................................................................... 116
3.2 TaskBuilder:Using VisioninSkillCommands.......................................................................... 118
3.3 TaskWriter: UsingVisioninMotionCommands....................................................................... 119
4. Product Specifications................................................................................121
4.1 Measurement Distance........................................................................................................................ 121
4.2 SizeandHeightofMeasuring Items............................................................................................... 121
4.3 Measuring Itemand Background.................................................................................................... 121
Part 4 Conveyor Tracking..................................................................................122
1. Precautions Before Use..............................................................................123
2. Setting with Workcell Manager (WCI).......................................................124
2.1 ExternalEncoderSetting.................................................................................................................... 124
2.1.1 EncoderInstallationandA-BPhaseSettingCheck.................................................................................................................. 124
2.1.2 TriggeringSwitchInstallationandSPhaseSettingCheck...................................................................................................... 124
2.2 ConveyorTrackerSetting................................................................................................................... 124
2.2.1 InterfaceSetting..................................................................................................................................................................................... 124
2.2.2 CoordinatesSetting.............................................................................................................................................................................. 126
2.2.3 SpeedSetting........................................................................................................................................................................................ 128

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3. Programming (TB/TW).................................................................................129
3.1 ConveyorCoordinates......................................................................................................................... 129
3.2 ConveyorTracking................................................................................................................................ 129
4. Other Items to Note......................................................................................131
4.1 Pick&Place(OneConveyor)............................................................................................................ 131
4.2 Pick&Place(TwoConveyors).......................................................................................................... 132
4.3 MultipleWorkpiece Handling............................................................................................................ 132

Part 1
Workcell Item

1. Workcell Item Summary
Workcell Item refers to the robot and all peripherals used together with the robot.
Workcell items can be configured in the Workcell Manager screen before use. Also, the Workcell
Manager can set commands for peripherals and can configure commands for the robot to perform
certain patterns and actions.
The combination of skills available change according to the configured Workcell Items, and in certain
conditions, the Task Builder can recommend a suitable task template.
This manual describes the Workcell Item Setting options in the Workcell Manager for the end effector,
machine and peripherals.
Item
Description
End Effector
End effectors can be added to the robot, and the added end effector
is displayed.
Machine
Machines compatible with the robot can be added, and the added
machine is displayed.
Peripherals
Peripherals connected to the robot can be added, and the added
peripheral is displayed.
1.1 Workcell Item Common Setting Options
Common setting options for Workcell Items are as follows:
Item
Description
Output Signal
It selects the output signal type.
Input Signal
It selects the input signal type.

2. End Effector
2.1 Gripper
There are the Pneumatic Gripper, Vacuum Gripper and Electric Gripper, and gripper setting options
are as follows:
Item
Description
Grasp
It configures the output signal for grasping the target.
Release
It configures the output signal for releasing the target.
Gripper Close Sensor
It configures an input signal that checks whether the
grasping of the target is complete. This item is optional.
Gripper Open Sensor
It configures an input signal that checks whether the
releasing of the target is complete. This item is optional.
2.1.1 Pneumatic Gripper
It is a gripper that uses pneumatic pressure supplied externally. It has a finger that allows it to grasp or
release an object according to the digital signal it receives. It is connected to a pneumatic pressure
control device where it opens and closes according to signals. In general, it is connected to a double-
action pneumatic pressure control device.
2.1.2 Vacuum Gripper
It is a gripper that uses an externally supplied vacuum. It has a vacuum pad connected to an external
vacuum generator, and it opens and closes according to digital signals from the vacuum generator. In
general, it is connected to a double-action pneumatic pressure control device.
2.1.3 Electric Gripper
It is a gripper operated with electric power supplied by the robot or an external power source. It has a
Finger that allows it to grasp or release an object according to the digital signal it receives.
2.2 Screwdriver
It is a tool that tightens bolts with power supplied externally. The tool operates when a signal is
received, and it does not operate when a signal is not received. If the tool has an auto tightening
torque check function, the successful tightening status is delivered via electrical signals.

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Item
Description
Screw
It configures the signal that operates the screwdriver tool.
The tool operates when a signal is received, and it does not
operate when a signal is not received.
Counter-Rotation Mode
Configures the counter-rotation mode signal of tools that
support counter-rotation mode with external signals.
Vacuum On
Configures the vacuum on signal to pick up a screw when a
screw is supplied from an external feeder if a separate
vacuum tool is installed.
Vacuum Off
Configures the vacuum off signal to pick up a screw when a
screw is supplied from an external feeder if a separate
vacuum tool is installed.
Torque OK
It configures the input signal of the tightening torque OK
status if the tool has an auto tightening torque check
function.
Torque NG
It configures the input signal of the tightening torque NG
status if the tool has an auto tightening torque check
function.
2.3 Gluing Tool
This is a device mounted on the end of a robot. It discharges liquid at a desired location or in a specific
linear shape using hydraulic or pneumatic pressure. The robot installed with the tool is capable of
smoothly moving along the shape the user configured.
Item
Description
Glue
It configures the signal that operates the Gluing tool. The
tool operates when a signal is received, and it does not
operate when a signal is not received.
2.4 Deburring Tool
This is a device mounted on the end of a robot. It is a device that removes burrs from products using a
cutting blade or brush mounted on the end of a device rotated with hydraulic or pneumatic pressure, or
electric power. The robot installed with the tool is capable of smoothly moving along the shape the
user configured (such as product edges).
Item
Description
Deburr
It configures the signal that operates the Deburring tool.
The tool operates when a signal is received, and it does not
operate when a signal is not received.

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2.5 Air Blow Nozzle
It is a device attached to the robot end, and it is installed next to the gripper where it removes chips
using pneumatic pressure during machining support and cleaning work.
Item
Description
Air Blow
It configures the signal that operates the air blow tool. The
tool operates when a signal is received, and it does not
operate when a signal is not received.
2.6 Polish
This is a device mounted on the end of a robot. It is a device that polishes the surfaces of products
using a brush mounted on the end of a device rotated with hydraulic or pneumatic pressure, or electric
power. The robot with the tool installed is capable of moving smoothly along the shape the user has
configured on the product surface.
Item
Description
Polish
It configures the signal that operates the Polishing tool. The
tool operates when a signal is received, and it does not
operate when a signal is not received.

3. Machine
3.1 Press Machine
A press machine is generally a device that compresses a flat material to form desired shapes. After the
material is placed in the press machine and pressed, the robot removes the workpiece and places it in
a designated location.
Item
Description
Press
It configures the output signal for starting the press
machine.
Machine Operation
Preparation Sensor
It configures the input signal for authorizing press machine
operation.
3.2 Turning Center
It is a type of machine tool that turns cylindrical material to allow the material to be cut to the desired
form using a tool turret. After the machining of the material placed in the machine tool is complete, the
robot removes the workpiece and places it on a pallet or in a designated location.
Item
Description
Machine Operation
It configures the output signal for starting the machine tool.
Open Chuck
It configures the output signal for grasping the target.
Close Chuck
It configures the output signal for releasing the target.
Open door
It configures the output signal for closing the door of the
machine tool.
Close door
It configures the output signal for opening the door of the
machine tool.
Reset Machine
It configures the output signal for the robot connection
initialization signal sent to the machine tool.
Robot Online
It configures the output signal for resetting the machine
tool.
Wash Workpiece
It configures the output signal for operating the air blow
device installed on the machine tool to clean the workpiece.
Tailstock Forward
It configures the output signal for moving the machine tool
tailstock forward.
Tailstock Retreat
It configures the output signal for moving the machine tool
tailstock backward.
Open Steady Rest
It configures the output signal for opening the steady rest.

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Item
Description
Close Steady Rest
It configures the output signal for closing the steady rest.
Approach Authorization
It configures the input signal for authorizing the machine
tool operation.
Chuck Open Check
It configures the input signal to check whether the chuck is
properly closed.
Chuck Close Check
It configures the input signal to check whether the chuck is
properly opened.
Door Open Check
It configures the input signal to check whether the door is
properly closed.
Door Close Check
It configures the input signal to check whether the door is
properly opened.
Workpiece Wash Completion
Check
It configures the input signal to check whether the air blow
device installed on the machine tool completed its
operation.
Tailstock Forward Check
It configures the input signal to check whether the tailstock
forward movement is complete.
Tailstock Retreat Check
It configures the input signal to check whether the tailstock
backward movement is complete.
Steady Rest Open Check
It configures the input signal to check whether the steady
rest is opened.
Steady Rest Close Check
It configures the input signal to check whether the steady
rest is closed.
3.3 Injection Molding Machine
The injection molding machine is a device that molds shapes by injecting materials such as plastic into
a mold. The robot removes the molded workpiece from the injection molding machine and places it in
a designated location.
Item
Description
Machine Operation
It configures the output signal for starting the injection
molding machine.
Machine Operation
Preparation Sensor
It configures the input signal for authorizing injection
molding machine operation.

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4. Peripherals
4.1 Pallet
It is a type of cradle that allows the target to be placed in a set formation. All targets on a pallet can be
handled with minimum instructions. It is the Workcell Item for pallets with a square grid pattern.
It supports four order patterns as shown in the figure below, so the user can select a pattern as
needed.
4.2 Pallet (Stack)
It is the Workcell Item for pallets with grid type patterns, and after entering the row and column values
along with the stack and thickness, it automatically stacks the target or recommends a skill suited for
picking and moving the target.
It supports four order patterns as shown in the figure below, so the user can select a pattern as
needed.
Note

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To automatically calculate the offset direction of stacked or picked items according to the pallet’s
upward/downward direction, it is recommended that the Workcell Item’s three points be
instructed in a counter-clockwise direction on a guide image.
4.3 Pallet (Rhombus)
It is the Workcell Item for pallets with intersecting rhombus patterns, and after entering the row and
column values based on the pallet position and skill used for single stacks, along with the stack and
thickness, it automatically stacks the target or recommends a skill suited for picking and moving the
target.
It supports four order patterns as shown in the figure below, so the user can select a pattern as
needed.
Note
To automatically calculate the offset direction of stacked or picked items according to the
pallet’s upward/downward direction, it is recommended that the Workcell Item’s three points be
instructed in a counter-clockwise direction on a guide image.

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4.4 Line Pattern
It is the Workcell Item for target batches with linear patterns, and after entering the number of targets
on a linear pattern and skill used for single stacks, along with the stack and thickness, it automatically
stacks the target or recommends a skill suited for picking and moving the target.
4.5 Shooting Bolt Feeder
It is a type of feeder that feeds a bolt through a tube from the screw assembly to the screwdriver end.
If a sensor is installed, it checks whether a bolt is prepared before feeding it to the screwdriver end.
Item
Description
Bolt Shooting
It configures the bolt shooting signal.
Bolt Preparation Sensor
It selects the input signal to check whether a bolt is
prepared at the bolt feeder.
4.6 Pick-up Bold Feeder
It is a type of feeder that feeds bolts to the system from the screw assembly, and the robot must pick
up the bolt. If a sensor is installed, it sends a signal to the robot indicating whether a bolt is ready.
Item
Description
Bolt Preparation Sensor
It selects the input signal to check whether a bolt is
prepared at the bolt feeder.

5. Additional Workcell Items
5.1 Common Setting Options
Additional common setting options for Workcell Items are as follows:
Item
Description
Output Signal
It selects the output signal type.
Input Signal
It selects the input signal type.
5.2 Additional Workcell Item List
5.2.1 Schmalz - FXCB
Item
Description
Type
There are two methods of creating a vacuum according to
each FXCB model.
- Normally Open: Vacuum is created when the power
supply is off or if the Suction On/Off Signal is off.
- Normally Closed: Vacuum is created when the Suction
On/Off Signal is on.
Port Number
Configures the port number of the output signal.
Motion
Outputs a signal to test a motion through the port number
configured for the output signal.
Suction On/Off
It selects the input signal type.
Vent On/Off
It configures an input signal that checks whether the
grasping of the target is performed. This item is optional.
Gripper Close Sensor
Checks the gripper close input signal configured by the port
number of the configured input signal.
The following list contains skills and commands that can be used in conjunction with this Workcell
Item.
•Grasp
•Release
•Pick
•Place
•Pick Pallet
•Place Pallet