Doosan M0609 User Manual page 70

Safe Torque Off (L)
Remote Emergency Stop
Task Operating
Doosan Robotics User Manual v1.9
 High: Robot is not in STO state
 Low: Robot is in STO state
It is used to notify the user of a situation where emergency
stop is required, such as when the Emergency Stop Button is
pressed, external Emergency Button is pressed, or self-
diagnosis defect is detected during Remote Control Mode.
 High: Normal operation
 Low: Emergency stop required
 High: Task is in operation
 Low: Task is not in operation
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