Doosan M0609 User Manual page 89

Signal Name
Reduced Speed (L)
Auto Mode (L)
Manual Mode (L)
Remote Control Mode (L)
Standalone Zone (L)
Collaborative Zone (L)
High Priority Zone (L)
Tool Orientation Limit
Zone (L)
Designated Zone (L)
Description
 High: Robot is operating as normal speed
 Low: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input
 High: The robot is not in Auto Mode
 Low: The robot is in Auto Mode
 High: The robot is not in Manual Mode
 Low: The robot is in Manual Mode
 High: The robot is not in Remote Control Mode
 Low: The robot is in Remote Control Mode
 High: The robot's TCP is in a Collaborative Zone
 Low: The robot's TCP is not in any Collaborative Zone
 High: The robot's TCP is not in any Collaborative Zone
 Low: The robot's TCP is in a Collaborative Zone
 High: The robot's TCP is not in any Collision Sensitivity
Reduction Zone and not in a High Priority Zone option
checked Custom Zone
 Low: The robot's TCP is in a Collision Sensitivity
Reduction Zone or in a High Priority Zone option checked
Custom Zone
 High: The robot's TCP is not in any Tool Orientation Limit
Zone
 Low: The robot's TCP is in a Tool Orientation Limit Zone
This is used to confirm if the TCP (Tool Center Point) is inside
the user-defined Zone.
The Designated Zone signal defined on the Safety Output
setting UI can be selected from the Zone setting UI
 High: If the TCP is not inside any Zone linked with the
Designated Zone safety output
 Low: If the TCP is inside a Zone linked with the Designated
Zone safety output
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