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

Doosan Robotics User Manual v1.7
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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

Doosan Robotics User Manual v1.7
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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

Doosan Robotics User Manual v1.7
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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

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1.1.2 Main function
Part
No.
Description
1
Cockpit (teach
button)
The button used to perform direct teaching (optional)
2
Tool Flange
The area on which a tool is mounted
3
Flange LED
Displays the status of the robot. . For more information about robot
status, refer to the “3.3.3 Status and Flange LED Color for Each
Mode
4
Flange I/O(2ea)
The I/O port for tool control (digital input 3ch, output 3ch)
5
Connector
Used for the robot’s power supply and communication.
1
2
4
3
5

Doosan Robotics User Manual v1.7
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1.2 Control Box Overview
No.
Part
Description
1
I/O terminal
The terminal for connecting to another robot’s control box and
peripherals
2
Teach pendant cable
terminal
The terminal through which the teach pendant cable is connected
to the control box
3
Power switch
Turns on/off the main power of the control box
4
Robot cable
connection terminal
The terminal through which the robot’s cable is connected to the
control box
5
Power terminal
The terminal to which the control box’s power cord is attached
2
1
4
3
5

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1.3 Teach Pendant Overview
No.
Part
Description
1
Power button
Turns on/off the main power of the teach pendant.
2
Power LED
The LED color changes according to the power status of the teach
pendant.
3
Emergency stop
button
In the event of an emergency, you can stop the robot by pressing this
button.
4
Hand Guide
Button
While holding down the hand guide button, you can control the robot
movement by manually
1.4 System Configuration
Command/
monitoring
Power/
network
Teach pendant
Control box
Robot
•Teach pendant: a device that controls the whole system. With the teach pendant, you can teach
the robot particular poses and configure the settings related to the robot and control box.
•Control box: Adjusts the movement of the robot according to the pose or movement set in the
teach pendant. The control box has various I/O ports so that you can connect various kinds of
equipment and devices to it.
•Robot: an industrial collaborative robot that can be used to transport objects and assemble parts.
You can use various tools with the robot by attaching them to the robot.
3
1
2
4

2. Safety
2.1 Safety Indications of User Manual
Dange
Failure to observe the instructions indicated by this icon may lead to serious
accidents and may also cause serious injury or death to the worker.
Warning
Failure to observe the instructions indicated by this icon may lead to accidents
and may also cause serious injury to the worker.
Caution
Failure to observe the instructions indicated by this icon may cause damage to
the product and injury to the worker.
2.2 Precautions for Use
Danger
•Do not operate the robot if it has had a break down or failure. Otherwise, you can be injured.
•Never put your fingers into the space behind the control box’s inner bracket. Otherwise, you may
sustain electric shock or injury due to the wiring existing in the space.
•Never modify the robot. Doosan Robotics will not be held responsible for any consequences
resulting from arbitrary modification of the robot.
•Do not enter the robot's safety range or touch the robot while the robot is operating. Otherwise, you
can collide with the robot, thereby sustaining injury or causing the robot to break down.
Warning
•Make sure to read and understand the manuals for all installed equipment before using the system.
•When using the robot, do not wear loose clothing or any accessories to avoid injury that can result
from them getting caught in the robot. In addition, if your hair is long, tie it back so that it does not
get caught in the robot.
•The surfaces of the robot and the control box can be very hot due to the heat generated when they
are operating. Do not handle or touch the robot and control box with your hands when they are
operating or immediately after they stop operating. Otherwise, you may get burned.
•If the robot generates heat, turn off the robot and wait for about an hour until it cools down.
•Use the hand-guiding feature only if the risk assessment allows their use.
•If an error occurs in the control box or teach pendant, immediately stop the robot using the
emergency stop function, check the cause of the error, locate the error code on the logs screen,
and then contact your supplier.

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Caution
•When using the teach pendant, be careful of the robot's movement. Otherwise, you can collide with
the robot, thereby sustaining injury or causing the robot to break down.
•A collision can create a significant amount of kinetic energy, possibly resulting in a dangerous
situation. The amount of kinetic energy generated is greater when the robot is operating at a higher
speed with a higher payload, so please be careful. (Kinetic energy = 1/2 mass x velocity 2)
•Incorporating different types of machines into your system can increase the risk or cause new
risks. When integrating the robot into your system, make sure to perform a system-wide risk
assessment.
•If you need other safety and emergency stop performance levels, make sure to select a level that
is sufficiently high.
•It is recommended that you test each function and the robot program separately, if you intend to
integrate an apparatus capable of damaging the robot into your system or use such an apparatus
together with the robot.
•It is recommended that you test the robot program by designating a temporary waypoint outside
the operating radius of the other apparatus. Doosan Robotics will not be held responsible for any
damage to the robot or other equipment caused by programming errors or robot failures.
•Do not expose the robot to strong magnetic fields. Otherwise, the robot may fail or may be
damaged.
•For information on additional modules, see the relevant manual.

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2.3 Types of Stop Modes for Safety
Sets safe stop mode, safety I/O, and limits for safety-rated monitoring for user safety.
STO (Safe Torque Off): All Stop Modes corresponding to Stop Category 0 immediately
cut off power and force operation with brake operation only. The brake for each joint of the
robot is not intended for deceleration, but for keeping the robot in stop status when its operating
power has been lost due to reasons such as a power cut-off. Frequent use of STO can wear the
brake and shorten the life span of the decelerator. Therefore, we recommend you use SS1
instead unless the use of STO is absolutely necessary.
•SS1(Safe Stop 1): All joints are stopped with maximum deceleration by a Stop Mode
corresponding to Stop Category 1, the power supply to the motor is cut off, and the brake is
engaged to stop. As the operation of STO mode, the robot is decelerated and stopped.Also the
motor is in the state of power down. Operation of the robot is practicable under the condition Servo
On after releasing stop function. For more information about servo on methods, refer to 109.
SOS(Safe Operating Stop): In this mode, the robot’s current position is maintained in the
Servo On status, in which the motor power is supplied, and the brake has not been engaged.
Once an abnormal position change is detected in this mode, the robot switches to STO.
•SS2(Safe Stop 2): All joints are stopped with maximum deceleration by a Stop Mode
corresponding to Stop Category 2, and SOS (Safe Operating Stop) is engaged.
•RS1: If a collision is detected, Floating Reaction ( a function to comply with external force for 0.25
second at the moment collision is detected) is engaged to respond to external force, and SOS
(Safe Operating Stop) is engaged.
2.4 Emergency Stop
In emergency situations, press the Emergency Stop button located on the top right of the teach
pendant to immediately stop the system.
•Twist the Emergency Stop button clockwise to disengage the emergency stop condition.
Note
•SS1 (Safe Stop 1) is set as the default mode for the Emergency Stop button.
•If additional Emergency Stop buttons are needed, a button can be added to the control box after a
risk assessment.
•Emergency stop must not be used as a risk reduction method, but as a secondary protection
device.
•If additional Emergency Stop buttons are needed, an application risk assessment must be
performed. The Emergency Stop button must comply with IEC 60947-5-5.

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2.5 Other Safety Functions
The system offers Safety Recovery Mode and Zero-Gravity Motion for user safety and robot recovery.
•Safety Recovery Mode: If there is an error with a continuing safety violation or if a robot is to be
packed, the user can use Safety Recovery Mode to configure the position and angle of the robot.
For more information about Safety Recovery Mode, refer to “ Safety Recovery Mode.”
•Zero-Gravity Motion: The system controls the robot joint with only the brake and without power
driving the motor. This function is used when the robot cannot return to normal with Safety
Recovery Mode or Hand-guiding. With Zero-Gravity Motion mode, the user can engage or
disengage the brake of each joint. For more information about Zero-Gravity Motion, refer to “10.4
Setting up the back drive operation mode.”
2.6 System Power Cut-Off
A power switch is installed on the bottom of the control box to cut off system power. Before cleaning or
servicing the robot or control box, or before disassembling the system, cut off system power using the
power switch.

3. Starting Up the Robot
3.1 System Power-Up
Press and hold down the power button in the upper left corner of the teach pendant.
•Then, the power to system essentials such as the robot, control box, and teach pendant is turned
on
•If you press the button again, the power is turned off.
Note
If the system does not power up, check the power switch located on the bottom of the control
box.

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3.2 Booting and Disengaging Packing Position
3.2.1 System Booting
After the system is powered on, the system boots up. When booting is complete, the system
application is displayed on the teach pendant. For more information about the system application, refer
to “5System Operation Program Outline.”
Note
Servo On: In order to move the robot pose, the robot must be in servo on status where power
is supplied to joints of the robot and the robot is on standby. For more information about servo
on, refer to “1Servo On.”
Date and Time Setting:As the date and time displayed on the teach pendant and the log
message saved on the robot follow the date and time setting of the system, the date and time
must be configured at initial boot up. For information regarding how to configure the date and
time, refer to “ Date and Time Setting.”
3.2.2 Disengaging Packaging Pose
The robot is in its packaging pose to allow easy transportation or packaging. To use the robot, it is
necessary to disengage the packaging pose.
Disengaging Packaging Pose:
1Tap "Status" on the teach pendant.
2Tap the "Safety Recovery" button.
3Select the "Packaging Mode" tab.
4Tap the "Servo On" button.

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5The robot status display on the bottom right of the screen changes from Safety Off to
Recovery. Tap the "Packaging Mode" toggle button on the Packaging Mode tab
screen.
6Tap the "Disengage Packaging Pose" button.
The robot’s packaging mode is disengaged, and the robot moves to the home position. When
the robot is in the home position, it does not move any further.
7After the robot is in the home position, tap the "Back" button on the top left of the
screen.
8The robot status display on the bottom right of the screen changes from Recovery to
Standby.
In this state, the user can operate the robot. Press the "Close" button on the Status screen to
close the status window.
3.3 Robot Mode and Status
The operation modes of the robot consist of Manual Mode where the user controls the robot directly,
and Automatic mode where the robot operates without direct user control.
3.3.1 Manual Mode
This is the mode in which the robot operates according to direct user control. The robot only operates
when a button related to an action is pressed, and releasing the button results in stopping the
corresponding action.
•In Manual Mode, the TCP movement speed is limited to less than 250 mm/s according to the
Robot Safety Regulations.
•If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position
Enable Switch can be connected in the Setting - Safety I/O setting of the system operation
program. In this case, the Enable Switch must be set in the center position to allow robot operation
in Manual Mode and to turn on the servo.
In Manual Mode, it is possible to configure robot peripherals in the Workcell Manager or to program
robot tasks in the Task Builder and Task Writer, and if the robot cannot be operated normally for
reasons such as the robot exceeding the safety threshold, the Recovery function can be performed to
restore normal operation.
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