Doosan M0609 User Manual page 87

Signal Name
Interlock Reset (R)
Reduced Speed Activation
(L)
3 Pos Enable Switch (H)
Handguiding Enable
Switch (H)
HGC End & Task Resume
(R)
Safety Zone Dynamic
Enable (H)
Safety Zone Dynamic
Enable (L)
Remote Control Enable
(H)
Description
DO conduct a comprehensive risk assessment to confirm that
using this signal is safe
It is used to reset the Interrupted state by Protective Stop
 Rising(Low to High): Reset the restart interlock and permit
return to normal standby state
 High: Operates the robot at the normal speed set in the task
 Low: It operates the robot at a speed proportionately
reduced from the speed set in the task. The reduction ratio
can be adjusted using the Speed Reduction Ratio slide bar.
If a signal is detected within a Collaborative Zone, the robot
is operated at the smaller speed reduction ratio (slower)
between the main speed reduction ratio and the
Collaborative Zone speed reduction ratio.
This is operation permission equipment that is used to
connect a three-position enabling switch.
 High: Jog/Servo On are available in Manual Mode
Play/Resume/Servo On are available in Auto Mode
 Low: Jog/Servo On are prohibited in Manual Mode
Play/Resume/Servo On are prohibited in Auto Mode
It is an operation permission signal used to connect a hand
guide switch.
 High: Hand-guiding available
 Low: Hand-guiding unavailable
It is used to resume task program execution after operator's
HandGuiding Control(HGC) in Auto Mode
 Rising(Low to High): Resumes task program after the
handguiding control.
It is available that activating/deactivating Space Limit and/or
Zone dynamically.
 High: Activates the Space Limit or Zone set to be
temporarily enabled or disabled by this signal
 Low: Deactivates the Space Limit or Zone set to be
temporarily enabled or disabled by this signal
It is available that activating/deactivating Space Limit and/or
Zone dynamically.
 High: Deactivates the Space Limit or Zone set to be
temporarily enabled or disabled by this signal
 Low: Activates the Space Limit or Zone set to be
temporarily enabled or disabled by this signal
Used to enable the Remote Control Mode.
 High: Remote Control Mode enabled.
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