Doosan M0609 User manual

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Preface.................................................................................................9
Copyright......................................................................................................................9
Open Source Software License Information (OSS)..............................................9
1. Safety............................................................................................10
Manual IndicationConventions..............................................................................10
1.1 Safety Symbols.................................................................................................10
1.2 General Instructions ........................................................................................12
1.3 ProductUsage..................................................................................................14
1.4 Risk Assessment..............................................................................................15
1.5 PotentialRisks..................................................................................................16
1.6 Validity and Responsibility.............................................................................17
2. Product Introduction..................................................................18
2.1 Component Check...........................................................................................18
2.2 Names and Functions......................................................................................19
2.2.1 Robot............................................................................................................................................................................. 19
2.2.2 Controlbox................................................................................................................................................................... 21
2.2.3 Teachpendant............................................................................................................................................................ 22
2.3 SystemConfiguration......................................................................................23
2.4 ProductSpecifications, General....................................................................24
2.5 Robot Specifications........................................................................................24

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2.5.1 BasicSpecification..................................................................................................................................................... 24
2.5.2 AxisSpecification........................................................................................................................................................ 25
2.5.3 Robotoperatingspace............................................................................................................................................. 26
2.5.4 Max.Payloadwithinoperatingspace................................................................................................................... 28
2.5.5 ToolCenterPoint(TCP)........................................................................................................................................... 29
2.6 Nameplate and Label.......................................................................................29
3. Installation...................................................................................31
3.1 Cautions during Installation...........................................................................31
3.2 Installation Environment.................................................................................32
3.2.1 InstallationLocationCheck...................................................................................................................................... 32
3.2.2 RobotWorkAreaCheck......................................................................................................................................... 33
3.3 Hardware Installation.......................................................................................34
3.3.1 SecuringtheRobot.................................................................................................................................................... 34
3.3.2 ConnectingtheRobotandTool............................................................................................................................. 35
3.3.3 ConnectingtheRobotandControlBox.............................................................................................................. 37
3.3.4 ConnectingtheControlBoxandTeachPendant............................................................................................ 39
3.3.5 RoutingofRobotCableandTeachPendantCable....................................................................................... 41
3.3.6 SupplyingPowertotheControlBox..................................................................................................................... 42
4. Interface.......................................................................................44
4.1 Flange I/O...........................................................................................................44
4.1.1 FlangeDigitalOutputSpecifications...................................................................................................................... 47

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4.1.2 FlangeDigitalInputSpecifications......................................................................................................................... 48
4.2 Connecting Control Box I/O...........................................................................49
4.2.1 SettingtheTerminalBlockforContactInput(TBSFT).................................................................................... 50
4.2.2 SettingtheTerminalBlockforSafetyContactOutput(TBSTO).................................................................. 51
4.2.3 SettingtheDigitalI/OPowerTerminal(TBPWR)............................................................................................. 51
4.2.4 SettingtheConfigurableDigitalI/O(TBCI1-4,TBCO1-4)........................................................................... 53
4.2.5 SettingAnalogI/OTerminal(TBAIO)................................................................................................................... 59
4.2.6 SettingEncoderInputTerminal(TBEN1,TBEN2).......................................................................................... 61
4.3 Network Connection........................................................................................63
4.3.1 ConnectingExternalDevices-VisionSensor................................................................................................... 63
4.3.2 ConnectingExternalDevice–DARTPlatform.................................................................................................64
4.3.3 ModbusTCPSlaveSetup....................................................................................................................................... 65
4.3.4 ExpandedProtocol-PROFINETIODevice(PNIOdevice)Setup........................................................... 65
4.3.5 ExpandedProtocol-EtherNet/IPAdapter(EIPadapter)Setup.................................................................. 65
4.3.6 UsingExpandedProtocol........................................................................................................................................ 66
4.3.7 UsingGeneralPurposeRegister(GPR)............................................................................................................ 66
5. Robot Mode and Status.............................................................67
5.1 ManualMode.....................................................................................................67
5.2 Auto Mode..........................................................................................................67
5.3 Status and Flange LED Color for Each Mode.............................................68
6. Safety Functions ........................................................................70

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6.1 Introduction.......................................................................................................70
6.2 Safety-Rated Stop Function...........................................................................71
6.2.1 EmergencyStopFunction...................................................................................................................................... 72
6.2.2 ProtectiveStop............................................................................................................................................................ 72
6.3 Safety Rated Monitoring Function................................................................73
6.4 Safety-Rated I/O................................................................................................74
7. Transportation ............................................................................75
7.1 Caution during Transportation......................................................................75
7.2 Pose for Robot Transportation......................................................................75
7.3 Package Specifications...................................................................................76
8. Maintenance................................................................................77
9. Disposal and Environment .......................................................78
10.Product Warranty and Responsibility.....................................79
10.1 Scope of Warranty............................................................................................79
10.2 Restrictions and Exceptions of Warranty....................................................79
10.3 Transfer..............................................................................................................80

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11.Product Certification..................................................................81
11.1 Third-Party Certification..................................................................................81
12.Indemnification...........................................................................82
Annex A System Specification ......................................................83
A.1 Robot....................................................................................................................83
A.1.1M0609.................................................................................................................................................................................. 83
A.1.2M1509.................................................................................................................................................................................. 84
A.1.3M1013.................................................................................................................................................................................. 85
A.1.4M0617.................................................................................................................................................................................. 86
A.2 Control box..........................................................................................................87
A.2.1CS-01(ACController)...................................................................................................................................................... 87
A.2.2CS-02(DCController)..................................................................................................................................................... 87
A.3Teachpendant....................................................................................................88
A.3.1TP-01.................................................................................................................................................................................... 88
Annex B Declaration and Certification.........................................89
B.1 CE/EU Declaration of Incorporation (Original)..............................................89
B.2 Europe Machinery Directive Attestation ofConformity..............................90
B.3EuropeEMC Directive Attestationof Conformity........................................91
B.4 U.S. NRTL Certification (U.S., Canada)...........................................................92

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B.5 Functional Safety Certification.........................................................................93
B.6 Voluntary Safety Confirmation Declaration (KCs) .......................................94
Annex C Stop Distance and Stop Time........................................98
C.1 Measurement Methods and Conditions.........................................................98
C.2 M1013 .................................................................................................................101
C.3 M0609 .................................................................................................................104
C.4 M0617 .................................................................................................................107
C.5 M1509 .................................................................................................................110
Annex D Control Box for AGV .....................................................113
D.1Product Introduction........................................................................................113
D.1.1NamesandFunctions...................................................................................................................................................113
D.1.2SystemConfiguration....................................................................................................................................................114
D.1.3NameplateandLabel....................................................................................................................................................115
D.2Installation.........................................................................................................115
D.2.1CautionsduringInstallation...........................................................................................................................................115
D.2.2InstallationEnvironment................................................................................................................................................115
D.2.3HardwareInstallation......................................................................................................................................................117
D.3Interface..............................................................................................................124
D.3.1ConnectingControlBoxI/O.........................................................................................................................................124
D.3.2NetworkConnection......................................................................................................................................................124

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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.
For details of updated manuals, refer to the Robot LAB website (https://robotlab.doosanrobotics.com/).
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).
© 2018 Doosan Robotics Inc., All rights reserved
Open Source Software License Information (OSS)
The software installed in this product was developed based on free/open source software.
Details about the free/open source software license can be found on the OSS use page on the Doosan
Robotics website (www.doosanrobotics.com/kr/oss/license).
For related inquires, contact the Marketing Department of Doosan Robotics
([email protected]).

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1. Safety
This chapter provides safety information the user must be aware of before installing or operating the
robot. All robots 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.
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.
1.1 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.