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]).

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1. Safety
This chapter provides safety information the user must be aware of before installing or operating the
robot. All robot s have risks of high voltage, electricity and collision. Therefore, in order to minimize the
risk of injuries and mechanical damage, one must observe the basic safety cautions while operating
the robot and using related parts. To protect user safety and prevent property loss, make sure to read
and follow the instructions carefully. The contents of the manual and specifications of the product may
change for product and performance improvements.
1.1 Manual Indication Conventions
To communicate safety precautions related to the use of the product, the following symbols are
indicated in this manual.
Symbol
Name
Description
Danger
Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury
to the operator.
Warning
Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury
to the operator.
Caution
Failure to observe instructions with this symbol may result in
product damage or cause injury to the operator.
Note
This is additional information to help the user.

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1.2 Safety Symbols
Among the symbols used in this manual, symbols related to user safety are as follows:
Symbol
Description
Danger
This symbol means that immediate hazards can occur due to electrical conditions
such as high voltage. Failure to observe instructions with this symbol may result in
serious accidents that could result in death or serious injury to the operator.
Danger
This symbol means that immediate hazards can occur. Failure to observe
instructions with this symbol may result in serious accidents that could result in
death or serious injury to the operator.
Warning
This symbol means that potentially dangerous situations can occur due to electrical
conditions such as high voltage. Failure to observe instructions with this symbol may
result in serious accidents that may cause serious injury to the operator.
Warning
This symbol means potentially dangerous situations can occur. Failure to observe
instructions with this symbol may result in serious accidents that may cause serious
injury to the operator.
Caution
This symbol means dangerous situations can occur due to overheating. Failure to
observe instructions with this symbol may result in serious accidents that may cause
serious injury to the operator.
Caution
The product may become damaged or the operator may suffer injury.

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1.3 General Instructions
This chapter describes general danger and warning items related to operating the robot.
•If the robot is installed with electrical devices, install the robot referring to the Installation
Manual.
•If a device is installed on the tool during robot installation, make sure to use appropriate bolts.
•Suitable safety measures, such as safety fences, must be implemented to protect the staff and
robot during installation.
•Do not wear loose-fitting clothes or accessories when operating the robot. If one’s hair is long,
make sure to tie up the hair to prevent it from getting caught between robot joints.
•Never operate a damaged robot.
•Take caution of the robot’s movement when using the teaching pendant.
•If the teaching pendant warns the user of a critical error, immediately engage the emergency
stop switch of the robot, identify the cause of the error, resolve the error and then resume robot
operation. If the critical error cannot be resolved, contact the sales agent or robot supplier.
•Make sure to connect safety protection equipment with a safety interface. If such equipment is
connected to a general interface, the integrity of safety functions may not be guaranteed.
•Make sure to become completely familiar with the robot user manual prior to operating the robot.
•If the robot collides with an external object, a significant impact may be generated. The impact
the robot receives is proportionate to the kinetic energy, so higher speeds and high payload can
generate large impacts. Make sure to maintain a safe speed and payload during operation in
collaborative spaces.
•Direct teaching must only be performed in safe environments. Do not operate the robot if there
are sharp edges or jamming near the tool and its surroundings.
•Before performing direct teaching, make sure accurate inputs (tool length, weight, center of
gravity) are made. If inputs are different from the tool specification, direct teaching error or
malfunctioning can occur.
•To ensure user safety, joints may operate at a certain speed or higher, or the maximum speed of
the TCP may be limited during direct teaching. If the limit is exceeded, the protective stop
function activates.
•Enable/disable the direct teaching function when the robot has completely stopped. If the direct
teaching function is enabled/disabled during robot operation, malfunctions may occur.
•If the robot axis must be rotated when the robot is not operated, it can be rotated at a torque
Warning
Warning

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greater than 400 Nm.
•Modifying the robot without prior approval may cause critical breakdowns and accidents.
•Operating the robot and controller for an extended period of time generates heat. Do not touch
the robot with bare hands after operating for an extended period of time. Before performing work
that requires touching the robot, such as tool installation, leave the robot for more than 1 hour
after turning off the power of the control unit to cool down the robot.
•Do not expose the robot to powerful magnetic fields. It may cause damage to the robot.
•Do not use the controller being laid. To avoid getting a hand caught in the door by accident,
make sure to keep it upright while working with the door open.
Caution
Caution

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1.4 Product Usage
This is an industrial product designed specifically for purposes of transferring and assembling objects
by attaching components to products using tools, and it must be operated in the conditions specified in
its specifications.
This product features special safety functions designed for the purpose of collaborating with human
operators, and it operates with human operators without specific boundaries. Conduct work with the
system only when all applications, including the tool, workpiece, boundary and other equipment, are
confirmed to have no harm.
The following uses are considered inappropriate because they exceed the boundaries of the product’s
intended purpose. Doosan Robotics will not be held responsible for any damage and malfunctioning of
the robot, property losses and injuries to users due to such inappropriate uses.
•Use in an environment with potential explosions
•Use in application related to medicine and human lives
•Use in transporting humans and animals
•Use without risk assessment
•Use in locations where performance and operation environment specifications are not met
•Use in environments with insufficient safety functions
•Use of the robot as a step to stand on
•Use in environments where electromagnetic waves are generated at levels greater than the IEC
standard, such as welding

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1.5 Risk Assessment
One of the most important aspects of a system integrator is risk assessment. Risk assessment is
legally mandatory in most countries. In addition, safety assessment of robot installation changes
according to the overall system integration method, so it is impossible to perform risk assessment
solely with the robot.
In order to perform risk assessment, the administrator overseeing the overall system establishment
must install and operate the robot according to ISO12100 and ISO10218-2. In addition, the
administrator can refer to the technical specification, ISO/TS 15066.
Risk assessment must consider the overall work process in terms of the overall life cycle of the robot
application. Key objectives of risk assessment are as follows:
•Robot setting and work teaching for robot operation
•Troubleshooting and maintenance
•Proper robot installation
Before supplying power to the robot arm, make sure to perform a risk assessment. Setting appropriate
safety settings and identifying the need for additional emergency stop buttons and other protective
measures are parts of risk assessment.
Identifying appropriate safety settings is a critical aspect of developing a collaborative robot
application. For more information, refer to the corresponding chapter of the manual.
Some safety functions are designed specifically for collaborative robot applications. These functions
can be set up through safety function settings, and they are optimized for responding to specific risks
identified through the risk assessment performed by the integrator.
The safety functions of the collaborative robot can be set up in the safety setting menu, and they offer
the following features:
•Force and power limitation: Limits the stopping force and pressure of the robot in case of
collisions between the robot and a worker
•Momentum limitation: Limits the energy and impact load by reducing the speed of the robot
when a collision between the robot and a worker occurs
•Joint position and TCP limitation: Limits robot movement to prevent moving towards specific
body parts of users such as the neck or head
•TCP and tool pose limitation: Limits certain areas or characteristics of a tool and workpiece to
minimize related risks (i.e., limits the movement of sharp edges of workpieces aimed at users)
•Speed limitation: Limits robot movement to stay at low speed in order to secure time for the user
to avoid a collision before a collision between the robot and a worker occurs
Applying appropriate safety settings is considered to be the same as fixing the robot to a specific
location and connecting it to a safety-related I/O. For example, setting password protection can
prevent unauthorized safety setting changes by individuals not approved by the system integrator.
Key items to note when performing risk assessment of the collaborative robot application are as
follows:
•Severity of individual potential collisions
•Probability of individual potential collision occurrence
•Probability of individual potential collision avoidance

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If the robot is installed on a non-collaborative robot application that cannot sufficiently remove risks
using its internal safety functions (e.g., use of dangerous tool), the system integrator must decide to
install additional protection devices during risk assessment (e.g., use of protection devices capable of
protecting the integrator during installation and programming).

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1.6 Potential Risks
•Jamming fingers between the manipulator base and mount
•Jamming limbs between the Link 1 and Link 2 (between Joint 3 (J3) and Joint 4 (J4))
•Jamming limbs between Joint 1 and Joint 2 (J1 and J2) and Joint 5 and Joint 6 (J5 and J6)
•Penetration of skin by sharp edges or surfaces of the tool
•Penetration of skin by sharp edges or surfaces of objects in the operating space of the robot
•Contusion caused by robot movement
•Bone fracturing due to movement between heavy payload and hard surface
•Accidents that occur due to loosening of bolts securing the robot flange or tool
•Object falls from the tool due to inappropriate grip or sudden power shortage
•Accidents that occur due to mistaking an emergency stop button of different equipment
•Errors that occur due to unauthorized safety parameter modification

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1.7 Validity and Responsibility
This manual does not provide information about the design, installation and operation methods of
robot applications integrated with other system. In addition, this manual does not provide information
that may influence the safety of the integrated system.
The system administrator must install the robot in a way that observes various safety requirements
according to the related national standards and regulations. In addition, the staff in charge of
integrating and managing the robot in a system must ensure that all related national safety legislation
and regulations are observed. The entity or user of the final system in which the robot is integrated has
the following responsibilities, and such responsibilities are not limited to the items listed below.
•Risk assessment of the system with the robot integrated
•Installation and removal of safety devices according to the outcome of the risk assessment
performed
•Confirmation of whether the system is properly designed, set up and installed
•Establishment of system operation and instructions
•Management of suitable safety settings in the software
•Prevention of users modifying safety devices
•Validity check of design and installation of integrated system
•Indication of contact information or important notifications related to use and safety
•Provision of technical documents including various manuals
•Provision of information on standards and legislation applied: http://www.doosanrobotics.com/
Compliance with the safety requirements in this manual does not mean all risks can be prevented.

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2. Product Introduction
2.1 Component Check
Manipulator
Controller (Option : Refer to Appendix)
Teach pendant
Controller power supply cable
Manipulator connection cable
User manual / Quick guide
Note
Components may vary depending on the robot model.