Doosan M0609 User Manual page 37

Mode Status
Auto
Ready
Auto
Operating
Handguiding
Ready
Auto
Handguiding
Auto-measure
Safety Stop
Servo Off
Description
 The Teach Pendant UI is in the actual mode execution
screen in a single work space.
 Pressing the "Execute" button will execute the task
program.
 White is displayed for a single work space and green is
displayed for a collaborative work space.
 The task program is being executed.
 White is displayed for a single work space and green is
displayed for a collaborative work space.
 The Handguiding command is executed during task
program execution.
 The system waits until the user presses the
"Handguiding" button.
 It monitors the stop status with Safe Operating Stop
(SOS).
 The robot pose can be changed by pressing the
"Handguiding" button.
 After the robot stops, enter Auto Handguiding Finish
through the Safety IO to set Auto Operating and then
continue executing the task program.
 The weight center point of the end effector is
measured automatically. Please note that the safety
monitoring functions of the robot are disabled.
 The system stopped due to protective stop or
exceeding the safety threshold.
 It monitors the stop status with Safe Operating Stop
(SOS).
 The servo is off due to protective stop, emergency stop
or exceeded safety threshold.
 It is identical to Safe Torque Off (STO).
37
Flange LED
White / Green
White Flashing /
Green Flashing
Cyan
Cyan Flashing
Yellow Flashing
Yellow
Red (M-Series)
LED Off (A Series)