Doosan M0609 User manual

Doosan Robotics User Manual v1.7
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Preface.................................................................................................9
Copyright .....................................................................................................................9
Information about open source software (OSS) licensing..................................9
1. Product Introduction..................................................................10
1.1 Robot Overview................................................................................................10
1.1.1 Nameofparts.............................................................................................................................................................. 10
1.1.2 Mainfunction................................................................................................................................................................ 11
1.2 Control Box Overview .....................................................................................12
1.3 TeachPendantOverview................................................................................13
1.4 System Configuration......................................................................................13
2. Safety............................................................................................14
2.1 SafetyIndicationsof UserManual.................................................................14
2.2 Precautions for Use.........................................................................................14
2.3 Types of Stop Modes for Safety ....................................................................16
2.4 EmergencyStop...............................................................................................16
2.5 Other SafetyFunctions ...................................................................................17
2.6 System Power Cut-Off.....................................................................................17
3. Starting Up the Robot................................................................18
3.1 System Power-Up.............................................................................................18
3.2 Booting and Disengaging Packing Position...............................................19
3.2.1 SystemBooting.......................................................................................................................................................... 19
3.2.2 DisengagingPackagingPose............................................................................................................................... 19
3.3 Robot Mode andStatus...................................................................................20
3.3.1 ManualMode.............................................................................................................................................................. 20
3.3.2 AutoMode.................................................................................................................................................................... 21
3.3.3 StatusandFlangeLEDColorforEachMode.................................................................................................. 21

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3.4 Robot Setting ....................................................................................................22
3.5 Robot SafetySetting........................................................................................22
3.5.1 SafetyLimitSetting..................................................................................................................................................... 22
3.5.2 WorkAreaSetting...................................................................................................................................................... 22
4. Manual Robot Operation...........................................................24
4.1 Jog Operation....................................................................................................24
4.2 Hand-Guiding Operation.................................................................................24
4.2.1 TeachPendantHand-GuidingButton................................................................................................................. 24
4.2.2 CockpitButton............................................................................................................................................................. 24
4.3 Robot Teaching andExecution.....................................................................26
5. System Operation Program Outline........................................28
5.1 StatusDisplayArea..........................................................................................28
5.2 Work Screen Area ............................................................................................29
5.3 Main Menus.......................................................................................................29
6. Home Screen Overview.............................................................31
6.1 Task Executionand Stopping........................................................................32
6.2Opening and running a saved task...............................................................33
6.3 Tool Setting .......................................................................................................34
7. Workcell Manager.......................................................................36
7.1 Whatis aWorkcellItem?.................................................................................36
7.2 Add Workcell Item............................................................................................38
7.3 Deprecated Workcell Item...............................................................................39
7.4 Robot Setting ....................................................................................................40

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7.4.1 World CoordinatesSetting...................................................................................................................................... 42
7.4.2 Robot Limits Setting................................................................................................................................................. 45
7.4.3 Safety I/O Setting....................................................................................................................................................... 48
7.4.4 Safety Stop Modes Setting.................................................................................................................................... 52
7.4.5 Setting the robot’s installation pose........................................................................................................................ 53
7.4.6 Tool Shape Setting................................................................................................................................................... 54
7.4.7 ToolWeightSetting.................................................................................................................................................... 54
7.4.8 RobotOperationEnvironmentTypes.................................................................................................................. 56
7.4.9 RobotWorkSpaceSetting..................................................................................................................................... 58
7.4.10 CollaborativeWorkSpaceSetting........................................................................................................................ 58
7.4.11 ProtectionSectionSetting........................................................................................................................................ 59
7.4.12 DisableCollisionDetectionSectionSetting........................................................................................................ 60
7.4.13 ToolDirectionChangeLimitSectionSetting...................................................................................................... 61
7.5 End Effector Setting.........................................................................................61
7.5.1 GrippersandTools.................................................................................................................................................... 61
7.5.2 EndEffectorI/OSignalSetting............................................................................................................................... 64
7.5.3 TestingtheI/Oofanendeffactor........................................................................................................................... 65
7.5.4 ToolRotationAngle(A,B,C)withinToolCenterPointSetting..................................................................... 66
7.5.5 ToolCenterPointSettingbasedonOtherEndEffeactors............................................................................ 68
7.6 Machine Tool Setting.......................................................................................69
7.7 Peripheral Setting.............................................................................................70
7.7.1 Others............................................................................................................................................................................ 73
7.7.2 Vision.............................................................................................................................................................................. 73
8. Task Builder................................................................................74
8.1 Task Management............................................................................................74
8.1.1 CreateNewTask....................................................................................................................................................... 74
8.1.2 Template....................................................................................................................................................................... 74
8.1.3 SaveTask.................................................................................................................................................................... 75
8.1.4 SaveTaskAs.............................................................................................................................................................. 75
8.1.5 Editing Workcell Items............................................................................................................................................. 75

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8.1.6 SaveTaskonExternalStorageDevice.............................................................................................................. 76
8.1.7 LoadSavedTask....................................................................................................................................................... 76
8.1.8 DeleteSavedTask.................................................................................................................................................... 76
8.1.9 ImportTaskonExternalStorageDevice............................................................................................................ 76
8.2 Task Builder Command ..................................................................................77
8.3 Deprecated SkillCommand............................................................................79
8.4 Edit Task.............................................................................................................80
8.4.1 EditTaskScreenConfiguration............................................................................................................................. 81
8.4.2 AddCommand........................................................................................................................................................... 82
8.4.3 DeleteCommand...................................................................................................................................................... 82
8.4.4 Pastecommand......................................................................................................................................................... 82
8.5 Setting and Applying Command Property..................................................83
8.6 Motion Command PropertySetting..............................................................83
8.6.1 WaypointSetting........................................................................................................................................................ 83
8.6.2 VelocitySetting............................................................................................................................................................ 84
8.6.3 OperationModeSetting........................................................................................................................................... 84
8.6.4 BlendingModeSetting............................................................................................................................................. 84
8.6.5 Multi-Segment(Waypoint)Setting........................................................................................................................ 86
8.7 Skill CommandPropertySetting...................................................................87
8.7.1 UnderstandingBasicPrinciplesofSkillCommands....................................................................................... 87
8.7.2 ComplianceControlandContactCheck............................................................................................................ 90
8.7.3 SkillCommandWorkPointSettingwithCockpitButtons.............................................................................. 91
8.8 Execute Task Program....................................................................................91
8.8.1 Virtualmodescreen................................................................................................................................................... 92
8.8.2 Realmodescreen:EndEffactorInformationtab.............................................................................................. 93
8.8.3 Realmodescreen:I/OInformationtab................................................................................................................ 94
8.8.4 ExecuteTask............................................................................................................................................................... 97
9. Task Writer ..................................................................................98

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9.1 Task Management............................................................................................98
9.1.1 CreateNewTask....................................................................................................................................................... 98
9.1.2 SaveTask.................................................................................................................................................................... 98
9.1.3 SaveTaskAs.............................................................................................................................................................. 98
9.1.4 SaveTaskonExternalStorageDevice.............................................................................................................. 99
9.1.5 LoadSavedTask....................................................................................................................................................... 99
9.1.6 DeleteSavedTask.................................................................................................................................................... 99
9.1.7 ImportTaskonExternalStorageDevice..........................................................................................................100
9.1.8 ExportTasktoExternalStorageDevice...........................................................................................................100
9.2 Edit Task Program..........................................................................................102
9.3 Task WriterCommand...................................................................................102
9.4 Setting and Applying Command Property................................................105
9.5 Execute Task Program..................................................................................105
9.6 DebugScreen..................................................................................................105
10.Monitoring and Testing...........................................................107
10.1 Screen Layout.................................................................................................107
10.2 Check I/O status..............................................................................................108
10.2.1 Settingupinput..........................................................................................................................................................108
10.2.2 Checkingtheanaloginputofthecontrolbox....................................................................................................108
10.2.3 Settingupthedigitaloutputofthecontrolbox/flange......................................................................................109
10.2.4 Settingtheanalogoutputofthecontrolbox......................................................................................................109
10.3 Servo On..........................................................................................................109
10.4 Setting up the back drive operation mode.................................................110
10.5 SafetyRecoveryMode...................................................................................111
10.5.1 Settingupthesoftwarerecoverymode.............................................................................................................111
10.5.2 Settingupthepackagingmode...........................................................................................................................112
11.Jog Function.............................................................................114
11.1 Jogscreen.......................................................................................................115

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11.1.1 Runningjogmodeonajointbasis......................................................................................................................116
11.1.2 Runningjogmodebasedontherobotbase...................................................................................................117
11.1.3 Execute based on World Coordinates............................................................................................................118
11.1.4 Runningjogmodebasedonthetool.................................................................................................................119
11.2 Move screen....................................................................................................120
11.2.1 Movingtherobotbyspecifyinganangle...........................................................................................................121
11.2.2 MovewithBaseReferenceCoordinates..........................................................................................................122
11.2.3 Move with World Coordinates Reference Coordinates..........................................................................123
11.2.4 MovewithToolReferenceCoordinates............................................................................................................124
11.3 Setupscreen...................................................................................................125
11.3.1 Alignment based on Base Axis/World Axis...................................................................................................126
11.3.2 MovetoHome..........................................................................................................................................................126
11.3.3 Aligningtherobotbasedonatargetpoint.........................................................................................................127
11.3.4 Aligningtherobotbasedonaworkcellitem.....................................................................................................128
11.3.5 AligningtherobotbasedontheTCPandweight..........오류! 책갈피가 정의되어 있지 않습니다.
12.Environment Setting................................................................129
12.1 Languagesettings..........................................................................................129
12.2 Date and Time Setting...................................................................................129
12.3 Robot Setup.....................................................................................................131
12.3.1 Setting the robot’s home position.........................................................................................................................131
12.3.2 Settingupthecockpit...............................................................................................................................................131
12.3.3 RemoteControlSetting..........................................................................................................................................131
12.4 Change andDisable Password....................................................................132
12.5 UserRole Setting............................................................................................132
12.6 Network Setting.............................................................................................134
12.6.1 Modbus TCP Setting.............................................................................................................................................134
12.6.2 ModbusTCP Master Setting................................................................................................................................135
12.6.3 Modbus RTU Master Setting..............................................................................................................................135

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12.7 System Update................................................................................................135
12.7.1 Update.........................................................................................................................................................................135
12.7.2 SystemRestore........................................................................................................................................................137
12.8 Check and Enter RobotLicense Code.......................................................137
12.9 Check Log........................................................................................................138
12.9.1 SystemLog................................................................................................................................................................138
12.9.2 ExtractLog..................................................................................................................................................................138
12.10 FactoryReset.......................................................................................138
12.10.1 DeleteLog..................................................................................................................................................................138
12.11 Screen Saver Mode Setting...............................................................138
12.12 Idle Servo Off .......................................................................................139

Preface
This User Manual introduces robot work management and operation methods
The content of this manual refers to the latest product versions at the time of writing, and the product
information provided in the manual is subject to change without prior notice to the user.
Copyright
Doosan Robotics has copyright and intellectual property rights to all content and all designs shown in
this manual. Therefore, any use, copying, or dissemination of them without written permission from
Doosan Robotics is prohibited. Please note that you will be held solely responsible for any improper
use or alteration of the patent rights of Doosan Robotics.
This manual provides reliable information. However, we are not responsible for any loss or damage
arising from errors, typos, or omissions in the manual. The information contained in this manual may
change without prior notice due to product improvements.
For further information on the revision details, please visit the Doosan Robotics website
(www.doosanrobotics.com).
© 2018 Doosan Robotics Inc.,All rights reserved
Information about open source software (OSS) licensing
The software that comes with the product is free and open source.
For more information about the licensing of free and open source software, please see the OSS usage
notice page on our website (http://www.doosanrobotics.com/kr/oss/license).
If you have any questions regarding this matter, please contact Doosan Robotics’ Marketing
Department at [email protected].

Doosan Robotics User Manual v1.7
10
1. Product Introduction
1.1 Robot Overview
1.1.1 Name of parts
No.
Part
No.
Part
1
Base
6
J4
2
J1
7
Link2
3
J2
8
J5
4
Link1
9
J6
5
J3
10
Tool Flange
10
2
9
8
1
4
6
5
7
3