Doosan M0609 Reference Manual
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Doosan M0609 Reference Manual

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  • Page 2 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.

  • Page 3: Table Of Contents

    Part 1 Workcell Item ....................10 1. Workcell Item Summary ................11 Workcell Item Common Setting Options ..................11 2. End Effector ..................... 12 Gripper ................................. 12 Pneumatic Gripper ....................................12 2.1.1 Vacuum Gripper ...................................... 12 2.1.2 Electric Gripper ......................................12 2.1.3 Screwdriver ..............................
  • Page 4 Sick - Safety Laser Scanner ................................. 30 5.2.11 Sick - Safety Light Curtain ..................................31 5.2.12 Omron - MC3 ......................................31 5.2.13 Doosan - Lynx Series ..................................... 32 5.2.14 Doosan - Puma Series ..................................35 5.2.15 OnRobot RG2 ......................................37 5.2.16 OnRobot RG6 ......................................
  • Page 5 Compliance Control and Contact Check ..................45 Common Setting Options for Skill Commands ................46 Skill Command List ..........................47 Air blow ........................................47 1.5.1 Bolt Shooting ......................................48 1.5.2 Check .......................................... 48 1.5.3 Close TC Chuck ...................................... 48 1.5.4 Close TC Door ......................................
  • Page 6 Tailstock Forward ..................................... 72 1.5.56 Tailstock Backward ....................................72 1.5.57 Touch .......................................... 72 1.5.58 Workpiece Clean ..................................... 72 1.5.59 2. Task Template ....................73 Part Handling ............................. 73 Single Gripper ......................................73 2.1.1 Double Gripper ......................................73 2.1.2 Doosan Robotics Reference Manual v1.5...
  • Page 7 CNC Machine Tending ..........................73 Single Gripper ......................................74 2.2.1 Double Gripper ......................................74 2.2.2 Press Machine Tending .......................... 75 Single Gripper ......................................75 2.3.1 Double Gripper ......................................76 2.3.2 Injection Molding Machine Tending ....................76 Screw Drive ..............................76 Gluing ................................
  • Page 8 Encoder Installation and A-B Phase Setting Check ........................124 2.1.1 Triggering Switch Installation and S Phase Setting Check ...................... 124 2.1.2 Conveyor Tracker Setting ........................124 Interface Setting ..................................... 124 2.2.1 Coordinates Setting ....................................126 2.2.2 Speed Setting ......................................128 2.2.3 Doosan Robotics Reference Manual v1.5...
  • Page 9 3. Programming (TB/TW) ................. 129 Conveyor Coordinates ......................... 129 Conveyor Tracking ..........................129 4. Other Items to Note ..................131 Pick & Place (One Conveyor) ......................131 Pick & Place (Two Conveyors) ......................132 Multiple Workpiece Handling ......................132...

  • Page 10: Part 1 Workcell Item

    Part 1 Workcell Item...

  • Page 11: Workcell Item Summary

    Workcell Item Summary Workcell Item refers to the robot and all peripherals used together with the robot. Workcell items can be configured in the Workcell Manager screen before use. Also, the Workcell Manager can set commands for peripherals and can configure commands for the robot to perform certain patterns and actions.

  • Page 12: End Effector

    End Effector Gripper There are the Pneumatic Gripper, Vacuum Gripper and Electric Gripper, and gripper setting options are as follows: Item Description It configures the output signal for grasping the target. Grasp Release It configures the output signal for releasing the target. It configures an input signal that checks whether the Gripper Close Sensor grasping of the target is complete.

  • Page 13: Gluing Tool

    Item Description It configures the signal that operates the screwdriver tool. The tool operates when a signal is received, and it does not Screw operate when a signal is not received. Configures the counter-rotation mode signal of tools that Counter-Rotation Mode support counter-rotation mode with external signals.

  • Page 14: Air Blow Nozzle

    Item Description It configures the signal that operates the Polishing tool. The tool operates when a signal is received, and it does not Polish operate when a signal is not received. Doosan Robotics Reference Manual v1.5...

  • Page 15: Machine

    Machine Press Machine A press machine is generally a device that compresses a flat material to form desired shapes. After the material is placed in the press machine and pressed, the robot removes the workpiece and places it in a designated location. Item Description It configures the output signal for starting the press...

  • Page 16: Injection Molding Machine

    The robot removes the molded workpiece from the injection molding machine and places it in a designated location. Item Description It configures the output signal for starting the injection Machine Operation molding machine. Machine Operation It configures the input signal for authorizing injection Preparation Sensor molding machine operation. Doosan Robotics Reference Manual v1.5...

  • Page 17: Peripherals

    Peripherals Pallet It is a type of cradle that allows the target to be placed in a set formation. All targets on a pallet can be handled with minimum instructions. It is the Workcell Item for pallets with a square grid pattern. It supports four order patterns as shown in the figure below, so the user can select a pattern as needed.

  • Page 18: Pallet (Rhombus)

    To automatically calculate the offset direction of stacked or picked items according to the pallet’s upward/downward direction, it is recommended that the Workcell Item’s three points be instructed in a counter-clockwise direction on a guide image. Doosan Robotics Reference Manual v1.5...

  • Page 19: Line Pattern

    Line Pattern It is the Workcell Item for target batches with linear patterns, and after entering the number of targets on a linear pattern and skill used for single stacks, along with the stack and thickness, it automatically stacks the target or recommends a skill suited for picking and moving the target. Shooting Bolt Feeder It is a type of feeder that feeds a bolt through a tube from the screw assembly to the screwdriver end.

  • Page 20: Additional Workcell Items

    Additional Workcell Items Common Setting Options Additional common setting options for Workcell Items are as follows: Item Description It selects the output signal type. Output Signal Input Signal It selects the input signal type. Additional Workcell Item List 5.2.1 Schmalz - FXCB Item Description There are two methods of creating a vacuum according to...

  • Page 21: Shumalz - Cobotpump

    • Insert 5.2.2 Shumalz - CobotPump Item Description It configures the output signal for grasping the target. Grasp Release It configures the output signal for releasing the target. It configures an input signal that checks whether the Gripper Close Sensor grasping of the target is performed.

  • Page 22: Shunk - Co-Act

    The following list contains skills and commands that can be used in conjunction with this Workcell Item. • Grasp • Release • Pick • Place • Pick Pallet • Place Pallet • Insert 5.2.5 Zimmer - GEP2000 Item Description It configures the output signal for grasping the target. Grasp Doosan Robotics Reference Manual v1.5...

  • Page 23: Zimmer - Hcr03

    Item Description Release It configures the output signal for releasing the target. This configures an input signal that checks the position Position Check value detected based on two values entered in the gripper setting. This item is optional. The following list contains skills and commands that can be used in conjunction with this Workcell Item.

  • Page 24: Robotiq - 2F-85

    To add new items, go to Setting > Network > Predefined Modbus menu, and configure. Equipment is connected to the selected Modbus address, Connect and buttons used to test gripper motion are activated. Doosan Robotics Reference Manual v1.5...
  • Page 25 Item Description It selects the gripper’s release option during a robot undergoing emergency stop. The definition of each option is as follows: Auto Release Close: Gripper closes to maximum upon Auto Release Option robot emergency stop Auto Release Open: Gripper opens to maximum upon robot emergency stop.

  • Page 26: Robotiq - 2F-140

    The gripper’s force. Force It is the area displaying the current position measured Current Position through the gripper’s grasp/release motion tests. Grasp Performs tests for grasping a target item. Release Performs tests for releasing a target item. Doosan Robotics Reference Manual v1.5...

  • Page 27: Robotiq - Hand-E

    Item Description A new motion can be added. Up to eight motions can be Add New Motion added. This is the input signal for the gripper’s status. Grasp Status Sensing This is the input signal for the gripper’s error status. Fault Status Sensing This is the input signal for the position value sent to the Requested Position Sensing...
  • Page 28 This is the input signal for the current current value of the Current Sensing gripper. The following list contains skills and commands that can be used in conjunction with this Workcell Item. • Grasp • Release • Pick • Place • Pick Pallet Doosan Robotics Reference Manual v1.5...

  • Page 29: Robotiq - 3-Finger

    • Place Pallet • Insert 5.2.10 Robotiq - 3-Finger Item Description It selects the predefined Modbus address. The IP address and name configured by the user for the Modbus slave Modbus Address equipment are displayed. To add new items, go to Setting >...

  • Page 30: Sick - Safety Laser Scanner

    This selects the port number for the safety input signal. Configures the safety input mode for the input signal Input Mode configuring the safety input signal. NC / NC, NC / NO and NO / NO modes are available. Doosan Robotics Reference Manual v1.5...

  • Page 31: Sick - Safety Light Curtain

    Item Description Motion It checks the status of the input signal. Only safety input signals/controller ports can be selected, Warning Field and the light curtain detection status is displayed. Error It displays the sensed error and checks its status by text. Reset Required It displays whether reset is necessary.

  • Page 32: Doosan - Lynx Series

    When the corresponding signal is On, the MC finishes the LH Chuck loaded load signal and executes the next block. When the corresponding signal is On, the MC finishes the LH Chuck unloaded Service M-code request signal and executes the next block. Doosan Robotics Reference Manual v1.5...
  • Page 33 Item Description When the corresponding signal is On, the MC finishes the Tailstock forward Service M-code request signal and executes the next block. When the corresponding signal is On, the MC finishes the Service M-code request signal and executes the next Tailstock backward block.
  • Page 34  Open TC Chuck  Close TC Chuck  Start TC  Check TC Ready  Robot Online  Workpiece Clean  Tailstock Forward  Tailstock Backward  Pick TC Chuck  Place TC Chuck Doosan Robotics Reference Manual v1.5...

  • Page 35: Doosan - Puma Series

    5.2.15 Doosan - Puma Series Item Description It selects the predefined Modbus address. The IP address and name configured by the user for the Modbus slave Modbus Address equipment are displayed. To add new items, go to Setting > Network > Predefined Modbus menu, and configure.
  • Page 36 The signal must be outputted under the following conditions: - MC Home position - Spindle stop Load LH Chuck - Robot uses - MEM Mode - No Machine lock - Door open - No Robot alarm Doosan Robotics Reference Manual v1.5...

  • Page 37: Onrobot Rg2

    Item Description It is the Robot arm approach request signal for new workpiece discharge. The signal must be outputted under the following conditions: - MC Home position - Spindle stop Unload LH Chuck - Robot uses - MEM Mode - No Machine lock - Door open - No Robot alarm Tailstock forward...

  • Page 38: Onrobot Rg6

    Place • Pick Pallet • Place Pallet • Insert 5.2.17 OnRobot RG6 Item Description It selects the predefined Modbus address. The IP address Modbus Address and name configured by the user for the Modbus slave Doosan Robotics Reference Manual v1.5...
  • Page 39 Item Description equipment are displayed. To add new items, go to Setting > Network > Predefined Modbus menu, and configure. Equipment is connected to the selected Modbus address, Connect and buttons used to test gripper motion are activated. The gripper position when the corresponding workpiece is Grasp grasped.

  • Page 40: Zimmer_Hcr-03-Dio

    The following list contains skills and commands that can be used in conjunction with this Workcell Item. • Start Polish • End Polish • Run Polish • Stop Polish • Polish (Hole) Doosan Robotics Reference Manual v1.5...

  • Page 41: Part 2 Task Programming Commands And Templates

    Part 2 Task Programming Commands and Templates...

  • Page 42: Skill Command

    Skill Command Skill Command Summary This is a function programmed through the robot and peripherals, and to use skills, it is necessary to configure the work and related Workcell Items. Necessary Workcell Items are indicated in each skill description. Note If FTS is not installed when using the A-Series, the following functions cannot be used: ...
  • Page 43 Move to Action pose: This is the point on the workpiece where the End Effector performs work. (e.g., Picking Pose, Placing Pose) Move to Retract Pose: This is the point to pick up the workpiece and move it safely to another point. It is the -Z direction from the Approach Pose, and a different direction can also be selected.
  • Page 44 Action End Pose is the point where the work ends. (e.g., Door Open Skill – End Pose, Screw Drive Skill – End Pose) Doosan Robotics Reference Manual v1.5...

  • Page 45: Compliance Control And Contact Check

    With the Compliance Control and Contact Check functions, which is the unique force control technology of Doosan Robotics, it is possible to easily perform teaching without repeated operation for accurate point designation since it allows position deviation within a tolerance range between the workpiece and surrounding items during robot operation.

  • Page 46: Common Setting Options For Skill Commands

    (Contact Detection Range) can be configured. Item Description It configures the direction of work. (Default: Z-direction) Direction This configures the offset distance for the Action Pose to Approach Distance allow safe access to the target. Doosan Robotics Reference Manual v1.5...

  • Page 47: Skill Command List

    Item Description This configures the offset distance for the Action Pose to Retract Distance allow movement without colliding with the target. This configures the speed required to approach the Action Approach Velocity Pose. This configures the speed required to retract from the Retract Velocity Reference Pose.

  • Page 48: Bolt Shooting

    Close TC Chuck It is the command to close the Turning Center Chuck. Item Description Open Chuck It is the button for opening the chuck. Close Chuck It is the button for closing the chuck. Doosan Robotics Reference Manual v1.5...

  • Page 49: Close Tc Door

    1.5.5 Close TC Door It is the command to close the Turning Center Door. Item Description Open door It is the button for opening the Turning Center Door. Close door It is the button for closing the Turning Center Door. 1.5.6 Close TC Manual Door It is a skill configured to execute the motion of closing the Turning Center Door.

  • Page 50: Deburr (Hole)

    It is the skill that deburrs the interior of a hole positioned in a pallet pattern using a rotating deburring tool. It performs work according to the hole depth and repeat count configured based on the position set on a pallet pattern. Doosan Robotics Reference Manual v1.5...

  • Page 51: Destacking

    Item Description It displays the Workcell Item required for configuring the Pallet corresponding skill. Click the button to change pattern settings related to the skill. The Workcell Item required for configuring the corresponding skill can be tested or used in the instruction Deburring Tool process.

  • Page 52: Destacking Line

    Repeat syntax. Note Pallet-related skills are matched to the pattern position corresponding to the configuring pattern. If a variety of pallets are used, related skills can be differentiated using the pallet’s name. Doosan Robotics Reference Manual v1.5...

  • Page 53: End

    1.5.13 It is the skill that defines the end pose of the corresponding tool in a continuous deburring routine on a target. When the previous motions are complete, it stops operation and retreats to the configured direction based on the end point of the previous motion. Item Description The Workcell Item required for configuring the...

  • Page 54: Glue (Point) Pallet

    1.5.17 Grasp It is the command to close the gripper. Item Description Grasp It is the button for closing the gripper. Release It is the button for opening the gripper. 1.5.18 Insert Doosan Robotics Reference Manual v1.5...
  • Page 55 It is a skill that finds the target point by searching with Spiral motion near the target point when the workpiece must be inserted into a hole at an inaccurate point. If the workpiece must be inserted into the target in tasks, such as gear assembly, it is possible to execute insertion motions by inserting incorrectly positioned workpieces through periodic motions.

  • Page 56: Machine Reset

    The Pick skill consists of three motions: i) a motion using only point control, ii) a motion using point control and Compliance Control, and iii) a motion using point control, Doosan Robotics Reference Manual v1.5...

  • Page 57: Pick Injection Molding Machine

    Compliance Control and Contact Check. Item Description The Workcell Item required for configuring the Gripper corresponding skill can be tested or used in the instruction process. If there is a situation where the gripper is closed before Open Gripper before moving to the point to pick up the target, this option can be Approaching used to prevent collision with the target.

  • Page 58: Pick Line

    The Workcell Item required for configuring the Gripper corresponding skill can be tested or used in the instruction process. It configures the speed at which the robot moves to a Velocity specific point on the pallet. Doosan Robotics Reference Manual v1.5...

  • Page 59: Pick Press Machine

    Item Description Select the counter that acts as the reference point for position change on the pattern. Selecting a MainSub will change the position according to the increase in the all- Position Change Count area counter of the task program. Placing this skill between the Repeat syntax will allow counters of the corresponding Repeat syntax.

  • Page 60: Place

    Selecting a MainSub will change the position according to the increase in the all- Position Change Count area counter of the task program. Placing this skill between the Repeat syntax will allow counters of the corresponding Repeat syntax. Doosan Robotics Reference Manual v1.5...

  • Page 61: Place Pallet

    1.5.31 Place Pallet This skill operates the gripper and releases the target when the robot moves to a specific point on the pallet or approaches and contacts a target settlement point on the pallet. The motion point is entered when defining the Workcell Item pallet, and the entered point is automatically utilized when the skill is used.

  • Page 62: Place Tc Chuck

    It is the skill that polishes the interior of a hole positioned in a linear pattern using a rotating polishing tool. It performs work according to the hole depth and repeat count configured based on the position set on a linear pattern. Doosan Robotics Reference Manual v1.5...

  • Page 63: Polish (Hole) Pallet

    Item Description It displays the Workcell Item required for configuring the Linear Pattern corresponding skill. Click the button to change pattern settings related to the skill. The Workcell Item required for configuring the corresponding skill can be tested or used in the instruction Polishing Tool process.

  • Page 64: Push

    Robot Online It is the command for checking the connection between the robot and machine tool. Item Description It is the button for starting Turning Center work. It is the button for ending Turning Center work. Doosan Robotics Reference Manual v1.5...

  • Page 65: Run

    1.5.40 It is the command that executes the Skill. Item Description It is the button for turning on the Skill. It is the button for turning off the Skill. The following is a list of Run Skills: • Run Screw •...

  • Page 66: Screwdrive Line

    The Stacking skill consists of three motions: i) a motion using only point control, ii) a motion using point control and Compliance Control, and iii) a motion using point control, Compliance Control and Contact Check. Doosan Robotics Reference Manual v1.5...

  • Page 67: Stacking Line

    Item Description The Workcell Item required for configuring the Gripper corresponding skill can be tested or used in the instruction process. Reference Pose This configures the Reference Pose of the work. This configures the thickness of the workpiece. Thickness This configures the number of workpieces. Count 1.5.45 Stacking Line...

  • Page 68: Start Deburr

    Start / End skills are always used together. Freely teach the routine using motion commands that can be used between Start and End. It is recommended to use the Move Spline command. 1.5.48 Start Glue Doosan Robotics Reference Manual v1.5...

  • Page 69: Start Injection Molding Machine

    It is the skill that defines the start pose of the Gluing Tool in a continuous gluing routine on a target. Instructing the starting point for gluing on a continuous routine will move the tool up to the point and execute the next motion after waiting for the configured wait time.

  • Page 70: Start Polish

    Item Description It is the button for starting Turning Center work. It is the button for ending Turning Center work. 1.5.53 Steady Rest Clamp It is the command to close the machine tool Steady Rest. Doosan Robotics Reference Manual v1.5...

  • Page 71: Steady Rest Unclamp

    Item Description Close Steady Rest It is the button for closing the machine tool Steady Rest. Open Steady Rest It is the button for opening the machine tool Steady Rest.. 1.5.54 Steady Rest Unclamp It is the command to open the machine tool Steady Rest. Item Description Close Steady Rest...

  • Page 72: Tailstock Forward

    It is the command to operate the air blow device installed on the machine tool to clean the workpiece. Item Description It is the button for starting workpiece cleaning. It is the button for ending workpiece cleaning. Doosan Robotics Reference Manual v1.5...

  • Page 73: Task Template

    Task Template Task Template is a bundle of skills that compose a work procedure used with a combination of Workcell Items when a particular Workcell Item is registered. It is possible to easily create a task with the settings of skills already in the template without worrying about the work process. Part Handling It is the template for handling the target.

  • Page 74: Single Gripper

    Type 2 Type 3 Type 4 Work Procedure Command Grasp the Pick Pallet Pick Pallet Pick Pallet Pick Pallet workpiece TC ready check Check TC Ready Check TC Ready Check TC Ready Check TC Ready Doosan Robotics Reference Manual v1.5...

  • Page 75: Press Machine Tending

    Open Auto TC Open Manual TC Open Auto TC Open Manual TC Open door Door Door Door Door Finished piece air Air blow Air blow blowing Unload finished Pick TC Pick TC Pick TC Pick TC piece Chuck air blowing Air blow Air blow Load the...

  • Page 76: Double Gripper

    Start Press Machine Screw Drive It is the template for screw assembly work. A template is recommended depending on the Pick-up bolt Feeder or Shooting bolt Feeder Workcell Item settings. Related Workcell Items are as follows: Doosan Robotics Reference Manual v1.5...
  • Page 77 • Screwdriver • Shooting Bolt Feeder • Pickup Bolt Feeder Type 1 Type 2 Work Procedure Command Feeder ready Check Feeder Ready check Feed bolt Pick-up bolt Feeder Shoot Bolt Grasp workpiece Screw Drive Screw Drive...

  • Page 78: Gluing

    Start Deburr End Deburring End Deburr Polishing It is the template for continuous routine deburring work. Related Workcell Items are as follows: • Polishing Tool Work Procedure Command Start Polishing Start Polish End Polishing End Polish Doosan Robotics Reference Manual v1.5...

  • Page 79: Part 3 Smart Vision Module

    Part 3 Smart Vision Module...

  • Page 80: Precautions Before Use

    Precautions Before Use • The camera lens must be as parallel to the work surface as possible. The camera’s line of view must be as perpendicular to the work surface as possible. • Reflections from work items and the surrounding environment within the camera’s measurement area must be avoided.

  • Page 81: Setting With Workcell Manager

    Setting with Workcell Manager Add the Smart Vision Module to the Workcell Manager and configure the Smart Vision Module referring to the following setting options. Camera Connection Item Description The camera IP address is a static IP, and the default address (192.168.137.5) is used for connection.

  • Page 82: Vision Job > Manage Job

    Create Vision Job Item Description If there is no existing job, create a new job with the job name Add New Vision Job “VisionJob_01,” and if there is an existing job, create a new job Doosan Robotics Reference Manual v1.5...

  • Page 83: Edit And Delete Vision Job

    Item Description with the job name with the following number of the existing job. (e.g., VisionJob_02) A virtual keyboard is displayed, and the job name can be edited. Vision Job List Save After the job name is edited, save the created job. Cancel Cancels the Vision Job creation.
  • Page 84 The job selected from the Vision Job List triggers the edit 수정 window where the “Job Name” can be edited. Save Saves the edited vision job name. Delete The selected job from the Vision Job List is deleted. Doosan Robotics Reference Manual v1.5...

  • Page 85: Vision Job > Set Image

    Vision Job > Set Image 2.3.1 Save and Load Lighting/Exposure/Gain/Focus Setting...
  • Page 86  The value changes in the order of 1, 5, 10, 50, and 100.  The focus increases or decreases by the amount of Inc. Focus Full Screen Displays the image in the full screen. Doosan Robotics Reference Manual v1.5...

  • Page 87: Camera Calibration

    During Calibration, a checkerboard with predefined design information is used. The method currently offered by Doosan Robotics is StandAlone calibration, and the elements required for this calibration are four robot poses taught based on the camera image of the checkerboard shot from the shooting position and tool tip.
  • Page 88 The Live screen is displayed on the Jog If the Vision license is entered, a live image can be viewed in the Jog tab. The user can operate the robot while viewing the live image.  Added Vision category to Peripheral Doosan Robotics Reference Manual v1.5...
  • Page 89 SVM Calibration Board Download  The SVM Calibration Board can be downloaded from [https://lab.doosanrobotics.com/ko/Index Robot LAB – Resources – Tech Data – Reference] after logging in.
  • Page 90 Item Description Enables Camera - Robot Calibration function. Camera Calibration  After the Camera Calibration function is enabled, the Camera Calibration Image button is enabled. Doosan Robotics Reference Manual v1.5...
  • Page 91 The Live/Shoot Image can be checked. To ensure proper camera calibration, a checkerboard is placed as follows:  The calibration image provided by Doosan Robotics is a 15 mm checkerboard. [Download Page]  Place the checkerboard at a distance of 300 mm~600 mm from the SVM.
  • Page 92  Tap the Move To button to move to the corresponding point.  Press the Reset button to reset robot coordinates.  If the end of the tool fails to accurately pinpoint the corner points of the checkerboard, point deviation occurs. Doosan Robotics Reference Manual v1.5...
  • Page 93 Run the camera - robot coordinate matching calculation. After calculation is completed, the results are displayed. If successful,save the Calibration information in the camera. To save the Calibration information in the UI, press the Confirm button on the top of the Workcell Manager. Success ( ) / Failure ( Success Criteria...

  • Page 94: Vision Job > Edit Job

    Sets the Workcell Item loaded on the left of the Set button to the current tool center point. Vision Job > Edit Job 2.4.1 Vision Tool Teaching Area Setting Doosan Robotics Reference Manual v1.5...
  • Page 96 Reference Image.  For example, if the Rotation Tolerance is 180 (-180~+180), it detects items in all rotation angle ranges, and if the Angle Tolerance is 10 (-10~+10), it only detects items rotated within Doosan Robotics Reference Manual v1.5...
  • Page 97 Item Description 10˚ from the Reference Image. Setting a larger Angle Tolerance value increases detection speed, and a smaller value decreases detection speed.  The tolerance is immediately applied when the scroll is moved. Configures the similarity threshold from the reference value. (0~100%) ...

  • Page 98: Vision Tool Teaching Limit Area Setting

    2.4.2 Vision Tool Teaching Limit Area Setting Doosan Robotics Reference Manual v1.5...
  • Page 99 Item Description Displays an area setting tool that limits the teaching area. Crop Inspection Area  The set area is saved by pressing the Apply button. Move the Teaching Limit Press and hold the arrow to move the area. Area (red area) ...

  • Page 100: Create Position Tool And Set Teaching Area

    The Position Tool is used for measuring the position and angle of an object (shape). Teach the item (shape) area to measure from the Reference Image, and set related parameters. The Position Tool measures the amount of rotation (angle) from the center point of the teaching area and the teaching area. Doosan Robotics Reference Manual v1.5...
  • Page 101 Item Description Adds a Position Tool to the Vision Tool List. Add Position Tool A setting window of the job selected from the Vision Tool List is 수정 displayed. Delete The selected job from the Vision Job List is deleted. Press and hold the arrow to move the teaching area.

  • Page 102: Create Presence Tool And Set Teaching Area

    Calculate button to measure the area of the shape (Pixel Count) by detecting pixels corresponding to the set brightness range. Adjust the acceptance range (Tolerance) of the check based on measured area values to set the presence check. Doosan Robotics Reference Manual v1.5...
  • Page 104 If a value exceeds the Test tolerance range, the inspection result outputs 0.  Press the Apply button to apply the setting. Apply Applies Vision Job settings. Cancel Cancels Vision Job Tool settings. Doosan Robotics Reference Manual v1.5...

  • Page 105: Create Distance Tool And Set Teaching Area

    2.4.5 Create Distance Tool and Set Teaching Area The Distance Tool measures the distance between two lines. Place areas A and B on a line you want to measure and press the Calculate button to measure the distance between A and B. Adjust the acceptance range (Tolerance) of the check based on measured distance values to set the distance check.
  • Page 106 Doosan Robotics Reference Manual v1.5...
  • Page 107 Item Description Adds a Distance Tool to the Vision Tool List. Add Distance Tool A setting window of the job selected from the Vision Tool List is Edit displayed. Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area.

  • Page 108: Create Angle Tool And Set Teaching Area

    The Angle Tool measures the angle between two lines. Place areas A and B on a line you want to measure and press the Calculate button to measure the angle between A and B. Adjust the acceptance range (Tolerance) of the check based on measured angle values to set the angle check. Doosan Robotics Reference Manual v1.5...
  • Page 110 Measures the angle at which the extension lines of each line Calculate meet when lines exist in the two teaching areas (A, B). Displays the angle between lines detected in two teaching areas Angle Display in the edit window. Doosan Robotics Reference Manual v1.5...

  • Page 111: Create Diameter Tool And Set Teaching Area

    Item Description Displays the angle between lines detected in two teaching areas Angle Image Display on the image. Configures the angle tolerance from the reference angle.  If a value exceeds the Test tolerance range, the inspection Angle Tolerance Setting result outputs 0.
  • Page 112 Doosan Robotics Reference Manual v1.5...
  • Page 113 Item Description Adds a Distance Tool to the Vision Tool List. Add Diameter Tool A setting window of the job selected from the Vision Tool List is displayed. Delete The selected job from the Vision Job List is deleted. Move Teaching Area Press and hold the arrow to move the teaching area.

  • Page 114: Vision Job > Test

    The captured image is displayed beneath the Live/Shoot button. If the measurement is successful, the red circle ( ) next to the Name changes to blue ( Tap the Confirm button after all tests are complete. Doosan Robotics Reference Manual v1.5...

  • Page 116: Programming

    Programming Adding a Vision Command in the Task Builder will add Vision and End Vision. Adding a Vision Command in the Task Writer will add Vision and End Vision. Vision Command Setting Options Doosan Robotics Reference Manual v1.5...
  • Page 117 Item Description The Vision Job List configured in the Workcell Manager displays the image of the Vision Job selected from the popup list.  Selecting a Vision Job using Select Vision Job enables Vision- Select Vision Job related functions.  The Vision Variables of Tools included in the Vision Job can be obtained.

  • Page 118: Task Builder: Using Vision In Skill Commands

    Task Builder: Using Vision in Skill Commands Doosan Robotics Reference Manual v1.5...

  • Page 119: Task Writer: Using Vision In Motion Commands

    Item Description Enter the desired robot position. Inserting a Skill Command (Pick, Place, etc.) between Vision and End Vision in the Task List will create a toggle button for the skill command to use Vision Position Offset. (The button is not Add Skill Command after displayed if there is no Skill Command between VisionStart and Vision Shoot and before...
  • Page 120 Match the Vision measurement pose and robot pose. Vision Position Offset The Vision measurement pose can be moved based on the robot. Vision Variable Select a pose to match the Vision and robot coordinates. Doosan Robotics Reference Manual v1.5...

  • Page 121: Product Specifications

    356x264 Max. Height of Item All 2D Visions, including Vision by Doosan Robotics, can have misrecognition due to distortions created by perspective view. The maximum height of the item to be measured is recommended to not exceed the smallest surface dimension. Even if the measurement height is lower than the maximum...

  • Page 122: Part 4 Conveyor Tracking

    Part 4 Conveyor Tracking Doosan Robotics Reference Manual v1.5...

  • Page 123: Precautions Before Use

    Precautions Before Use • Currently, only the Linear Conveyor is supported. • One robot can support up to two conveyors. • When connecting one conveyor, it is necessary to have one encoder, which can measure the traveling distance of the conveyor, and one triggering switch, which detects objects passing through a particular starting point.

  • Page 124: Setting With Workcell Manager (Wci)

    This setting is used when the workpiece interval can be estimated and electrical noise cannot be controlled due to poor work environment conditions. Doosan Robotics Reference Manual v1.5...

  • Page 126: Coordinates Setting

    Manual calculation from the system design specifications. Auto Measure is recommended for the purpose of reducing errors, but Manual calculation is possible if it is difficult to teach the robot of the workpiece. Doosan Robotics Reference Manual v1.5...
  • Page 127 Auto Measure Place a workpiece on the conveyor in the same way it would be during actual work. Operate the conveyor and stop the conveyor as soon as the workpiece passes the triggering switch of the conveyor. Teach the reference point of the workpiece at this moment, and acquire the location of Point X1 using Get Pose.

  • Page 128: Speed Setting

    Window, but in the worst case, this can cause workpiece at the end of the Watch Window to be a target, so it is recommended to adjust the Watch Window size to allow all work in the Tracking Zone to be completed. Doosan Robotics Reference Manual v1.5...

  • Page 129: Programming (Tb/Tw)

    Programming (TB/TW) Programming of Conveyor Tracking is made with the Conveyor Coordinates command and Conveyor Tracking command in TB/TW. Coordinates information of the workpiece is obtained through the Conveyor Coordinates command, and Conveyor Tracking motion is performed with the Conveyor Tracking command.
  • Page 130 In addition to workpiece coordinates, the teaching point supports teaching points in Base or World Coordinates, and in order to use them, it is necessary to obtain the teaching points of the corresponding coordinates in the Task Motion Property window. Doosan Robotics Reference Manual v1.5...

  • Page 131: Other Items To Note

    Other Items to Note Here are the program templates commonly used. Pick & Place (One Conveyor) This example picks a workpiece moving on one conveyor and places it outside the conveyor. Perform teaching of ApproachPose and PickPose at Conveyor Tracking Property. By selecting Conveyor Coordinates (Coord1 in the example) as the coordinates at MoveL in the Conveyor Tracking node, it is possible view teaching points that underwent teaching at Conveyor Tracking.

  • Page 132: Pick & Place (Two Conveyors)

    Select coordinates suited for the workpiece, perform Start Teaching, and perform Get Pose to obtain teaching points suited for each coordinate. If the workpiece is identical, it is acceptable to share identical teaching points. Doosan Robotics Reference Manual v1.5...

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M0617M1013M1509

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