Precautions Before Use - Doosan M0609 Reference Manual

1.

Precautions Before Use

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Currently, only the Linear Conveyor is supported.
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One robot can support up to two conveyors.
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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.
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The encoder signal and triggering switch can only be used in one robot. In other words, one
conveyor cannot be connected to more than two robots.
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The encoder and triggering switch are connected to the encoder terminals (TBEN1, TBEN2) of
the control box. Connect the encoder with A phase or A/B phase depending on the specifications,
and connect the triggering switch to S phase. For details about sensor selection and connection,
refer to Installation Manual 4.2.6.
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The encoder resolution is selected by taking into account the resolution of the encoder itself and
every reduction ratio from encoder input up to workpiece traveling mechanism. Select an encoder
resolution that allows the entire system resolution to be at least 5000 count/m. If the entire
system resolution is greater than 10000 count/m, there is no point in upgrading system
performance.
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Conveyor speeds from 10 to 500 mm/s are supported.
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All task motions are supported during conveyor tracking. However, Absolute motion only allows
Base, World and Conveyor Coordinates, and Relative motion allows all.
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The Compliance Control command can be executed during conveyor tracking.
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In the current version, the Force Control command cannot be executed during conveyor tracking.
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The Set Tool Weight command is allowed, but the Set Tool Center Position command is not
allowed during conveyor tracking.