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.

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/).

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

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

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

3. Programming (TB/TW).................................................................................129

3.1 ConveyorCoordinates......................................................................................................................... 129

3.2 ConveyorTracking................................................................................................................................ 129

4. Other Items to Note......................................................................................131