Doosan A0509 Installation Manual page 3

2.6 Nameplates and Labels ................................................................................... 40
3. Installation ................................................ 41
3.1 Cautions during Installation ........................................................................... 41
3.2 Installation Environment ................................................................................. 42
3.2.1
3.2.2
3.3 Hardware Installation ....................................................................................... 44
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.3.9
3.3.10 Emergency Stop Button Setting Switch ...................................................................................................................................................................... 59
4. Interface .................................................... 60
4.1 Flange I/O ........................................................................................................... 60
4.1.1
4.1.2
4.2 Controller I/O Connection ............................................................................... 65
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.3 Network Connection ........................................................................................ 79
4.3.1
Installation Location Check .......................................................................................................................................................................................................... 42
Robot Work Area Check ............................................................................................................................................................................................................... 43
Securing the Robot ............................................................................................................................................................................................................................... 44
Connecting the Robot and Tool ............................................................................................................................................................................................ 46
Connecting the Manipulator and Controller ............................................................................................................................................................. 47
Connecting the Controller and Emergency Stop Button ........................................................................................................................ 49
Connecting the Controller, and Smart Pendant ................................................................................................................................................. 50
Connecting the Controller and Teach Pendant ................................................................................................................................................. 52
Routing of Cables ................................................................................................................................................................................................................................... 54
Supplying Power to the Controller ...................................................................................................................................................................................... 55
System Power-Up ................................................................................................................................................................................................................................ 56
Flange Digital Output Specifications ................................................................................................................................................................................. 63
Flange Digital Input Specifications ....................................................................................................................................................................................... 64
Setting the Terminal Block for Contact Input (TBSFT) ............................................................................................................................... 66
Setting the Digital I/O Power Terminal (TBPWR) ............................................................................................................................................ 68
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4) ................................................................................................................. 69
Setting Analog I/O Terminal (TBAIO) ............................................................................................................................................................................. 75
Setting Encoder Input Terminal (TBEN1, TBEN2) ....................................................................................................................................... 77
Connecting External Devices - Vision Sensor ..................................................................................................................................................... 79
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