Doosan M0609 User manual

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Manual Version 2.1
Software Version 2.7.1

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Preface...............................................................................................10
Copyright....................................................................................................................10
Open Source Software License Information (OSS)............................................10
1. Safety............................................................................................11
1.1 Manual IndicationConventions.....................................................................11
1.2 Safety Symbols.................................................................................................12
1.3 General Instructions ........................................................................................13
1.4 ProductUsage..................................................................................................15
1.5 Risk Assessment..............................................................................................16
1.6 Potential Risks..................................................................................................18
1.7 Validity and Responsibility.............................................................................19
2. Product Introduction..................................................................20
2.1 Component Check...........................................................................................20
2.2 Names and Functions......................................................................................21
2.2.1 Manipulator.....................................................................................................................................................................................................................................................21
2.2.2 Controller...........................................................................................................................................................................................................................................................23
2.2.3 Teachpendant..........................................................................................................................................................................................................................................24
2.3 System Configuration......................................................................................25
2.4 ProductSpecifications,General....................................................................26
2.5 Robot Specifications........................................................................................27

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2.5.1 BasicSpecification.................................................................................................................................................................................................................................27
2.5.2 AxisSpecification.....................................................................................................................................................................................................................................28
2.5.3 Robotoperatingspace.....................................................................................................................................................................................................................29
2.5.4 Max.Payloadwithinoperatingspace.............................................................................................................................................................................41
2.5.5 ToolCenterPoint(TCP).................................................................................................................................................................................................................44
2.6 Nameplate and Label.......................................................................................45
3. Installation...................................................................................46
3.1 Cautions during Installation...........................................................................46
3.2 Installation Environment.................................................................................47
InstallationLocationCheck..........................................................................................................................................................................................................47
3.2.2 RobotWorkAreaCheck...............................................................................................................................................................................................................48
3.3 Hardware Installation.......................................................................................49
3.3.1 SecuringtheRobot...............................................................................................................................................................................................................................49
ConnectingtheRobotandTool............................................................................................................................................................................................51
3.3.3 ConnectingtheManipulatorandController.............................................................................................................................................................52
3.3.4 ConnectingtheControllerandTeachPendant.................................................................................................................................................54
3.3.5 RoutingofManipulatorCableandTeachPendantCable...................................................................................................................56
3.3.6 SupplyingPowertotheController......................................................................................................................................................................................57
4. Interface.......................................................................................59
4.1 Flange I/O...........................................................................................................59
4.1.1 FlangeDigitalOutputSpecifications.................................................................................................................................................................................62

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4.1.2 FlangeDigitalInputSpecifications.......................................................................................................................................................................................63
4.2 Connecting Controller I/O...............................................................................64
4.2.1 SettingtheTerminalBlockforContactInput(TBSFT)...............................................................................................................................65
4.2.2 SettingtheTerminalBlockforSafetyContactOutput(TBSTO)....................................................................................................66
4.2.3 SettingtheDigitalI/OPowerTerminal(TBPWR)............................................................................................................................................67
4.2.4 SettingtheConfigurableDigitalI/O(TBCI1-4,TBCO1-4).................................................................................................................68
4.2.5 SettingAnalogI/OTerminal(TBAIO).............................................................................................................................................................................74
4.2.6 SettingEncoderInputTerminal(TBEN1,TBEN2).......................................................................................................................................76
4.3 Network Connection........................................................................................78
4.3.1 ConnectingExternalDevices-VisionSensor.....................................................................................................................................................78
4.3.2 ConnectingExternalDevice–DARTPlatform..................................................................................................................................................80
4.3.3 ModbusTCPSlaveSetup...........................................................................................................................................................................................................81
4.3.4 ExpandedProtocol-PROFINETIODevice(PNIOdevice)Setup..........................................................................................82
4.3.5 ExpandedProtocol-EtherNet/IPAdapter(EIPadapter)Setup....................................................................................................83
4.3.6 UsingExpandedProtocol............................................................................................................................................................................................................84
4.3.7 UsingGeneralPurposeRegister(GPR)...................................................................................................................................................................85
5. Robot Mode and State...............................................................86
5.1 Manual Mode.....................................................................................................86
5.2 Automatic Mode................................................................................................87
5.3 Other Mode........................................................................................................88
5.4 State and Flange LED Color for Each Mode................................................89
6. Safety Functions ........................................................................91

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6.1 Introduction.......................................................................................................91
6.2 Safety-Rated Stop Function...........................................................................92
6.2.1 EmergencyStopFunction..........................................................................................................................................................................................................93
6.2.2 ProtectiveStop...........................................................................................................................................................................................................................................94
6.3 Safety Rated Monitoring Function ................................................................95
6.4 Safety-Rated I/O................................................................................................97
7. Transportation ............................................................................98
7.1 Caution during Transportation......................................................................98
7.2 Pose for Robot Transportation......................................................................99
7.3 Package Specifications.................................................................................100
8. Maintenance..............................................................................101
9. Disposal and Environment .....................................................102
10.Product Warranty and Responsibility...................................103
10.1 Scope of Warranty..........................................................................................103
10.2 Restrictions and Exceptions of Warranty..................................................104
10.3 Transfer............................................................................................................105

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11.Indemnification.........................................................................106
Annex A System Specification ....................................................107
A.1 Manipulator........................................................................................................107
A.1.1M0609........................................................................................................................................................................................................................................................................107
A.1.2M1509........................................................................................................................................................................................................................................................................108
A.1.3M1013........................................................................................................................................................................................................................................................................109
A.1.4M0617........................................................................................................................................................................................................................................................................110
A.1.5H2017.........................................................................................................................................................................................................................................................................111
A.1.6H2515.........................................................................................................................................................................................................................................................................112
A.2 Controller...........................................................................................................113
A.2.1CS-01(ACController).............................................................................................................................................................................................................................113
A.2.2CS-02(DCController).............................................................................................................................................................................................................................114
A.2.3CS-01P(ACController).........................................................................................................................................................................................................................115
A.3 Teach pendant..................................................................................................116
A.3.1TP-01...........................................................................................................................................................................................................................................................................116
A.4 DART Platform Installation Requirement (minimum, recommended)...117
Annex B Declaration and Certification.......................................118
B.1 Europe Declaration of Incorporation (Original)..........................................118
B.2 Europe Machinery Directive Attestation of Conformity............................119
B.3 Europe EMC Directive Attestation of Conformity......................................121
B.4 U.S. NRTL Certification (U.S.,CANADA)......................................................122

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B.5 Functional Safety Certification.......................................................................124
B.6 Voluntary Safety Confirmation Declaration (KCs).....................................125
Annex C Stop Distance and Stop Time......................................131
C.1 Measurement Methods and Conditions.......................................................131
C.1.1GeneralInformation...................................................................................................................................................................................................................................131
C.1.2StopCategory:.................................................................................................................................................................................................................................................132
C.1.3MeasurementPosesandConditions.................................................................................................................................................................................133
C.2 M1013 .................................................................................................................135
C.2.1StopCategory1.............................................................................................................................................................................................................................................135
C.2.2StopCategory0.............................................................................................................................................................................................................................................138
C.3 M0609 .................................................................................................................139
C.3.1StopCategory1.............................................................................................................................................................................................................................................139
C.3.2StopCategory0.............................................................................................................................................................................................................................................142
C.4 M0617 .................................................................................................................143
C.4.1StopCategory1.............................................................................................................................................................................................................................................143
C.4.2StopCategory0.............................................................................................................................................................................................................................................146
C.5 M1509 .................................................................................................................147
C.5.1StopCategory1.............................................................................................................................................................................................................................................147
C.5.2StopCategory0.............................................................................................................................................................................................................................................150
C.6 H2017..................................................................................................................151
C.6.1StopCategory1.............................................................................................................................................................................................................................................151
C.6.2StopCategory0.............................................................................................................................................................................................................................................154
C.7 H2515..................................................................................................................155

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C.7.1StopCategory1.............................................................................................................................................................................................................................................155
C.7.2StopCategory0.............................................................................................................................................................................................................................................158
Annex D DC Controller (CS-02)....................................................159
D.1 Product Introduction........................................................................................159
D.1.1NamesandFunctions............................................................................................................................................................................................................................159
D.1.2SystemConfiguration..............................................................................................................................................................................................................................160
D.1.3NameplateandLabel..............................................................................................................................................................................................................................161
D.2 Installation.........................................................................................................162
D.2.1CautionsduringInstallation................................................................................................................................................................................................................162
D.2.2InstallationEnvironment........................................................................................................................................................................................................................163
D.2.3HardwareInstallation................................................................................................................................................................................................................................164
D.3 Interface..............................................................................................................172
D.3.1 ConnectingControllerI/O....................................................................................................................................................................................................................172
D.3.2NetworkConnection.................................................................................................................................................................................................................................173
Annex E IP Steel Controller (CS-01P).........................................174
E.1 ProductIntroduction........................................................................................174
E.1.1NamesandFunctions............................................................................................................................................................................................................................174
E.1.2SystemConfiguration..............................................................................................................................................................................................................................175
E.1.3NameplateandLabel..............................................................................................................................................................................................................................176
E.2 Installation..........................................................................................................177
E.2.1CautionsduringInstallation................................................................................................................................................................................................................177

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E.2.2InstallationEnvironment........................................................................................................................................................................................................................178
E.2.3HardwareInstallation.................................................................................................................................................................................................................................179
Annex F H-Series Handling Guide...............................................186

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Preface
Thank you for choosing this Doosan Robotics product. Before installing the product, please read
through this manual and follow the instructions for each installation process provided in this manual.
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 rights, the user will be solely
responsible for the consequences.
While the information in this manual is reliable, Doosan Robotics will not be held accountable 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.
For details of updated manuals, refer to the Doosan Robotics website (www.doosanrobotics.com).
© 2021 Doosan Robotics Inc., All rights reserved
Open Source Software License Information (OSS)
The software installed in this product was developed based on free/open source software.
Details about the free/open source software license can be found on the OSS use page on the Doosan
Robotics website (www.doosanrobotics.com/kr/oss/license).
For related inquires, contact the Marketing Department of Doosan Robotics
([email protected]).