Doosan M0609 User Manual page 91

Signal Name
Robot In Motion (L)
Mastering Alarm (L)
Home Position (L)
Deceleration - SS1 SS2 (L)
Description
This is used to notify the operator that the robot joint is
actually operating.
 High: The robot is stopped
 Low: The robot is operating
This is used to notify the operator that mastering is required
due to an issue in the home position setting.
 High: The robot requires mastering
 Low: The robot does not require mastering
This is used to confirm whether the robot is at the home
position.
 High: The robot is at the home position
 Low: The robot is not at the home position
This is used to check whether the robot is decelerating or not
during operation. In standby or normal operation, the signal
remains high. When deceleration starts, the signal changes to
Low, and when deceleration ends, the signal returns to High
again.
 High: Normal operation
 Low: Deceleration by SS1 or SS2 is occurred
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