Doosan A0509 Installation Manual page 4

4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
5. Robot Mode and State ............................. 87
5.1 Manual Mode ..................................................................................................... 87
5.2 Automatic Mode................................................................................................ 88
5.3 Other Mode ........................................................................................................ 89
5.4 State and Flange LED Color for Each Mode ................................................ 90
6. Safety Functions ...................................... 92
6.1 Introduction ....................................................................................................... 92
6.2 Safety-Rated Stop Function ........................................................................... 93
6.2.1
6.2.2
6.3 Safety-Rated Monitoring Function ................................................................ 96
6.4 Safety-Rated I/O ................................................................................................ 98
7. Transportation .......................................... 99
7.1 Cautions during Transportation .................................................................... 99
7.2 Pose for Robot Transportation .................................................................... 100
7.3 Package Specifications ................................................................................. 101
8. Maintenance............................................ 102
Doosan Robotics Installation(A-Series) Manual v1.8
Connecting External Device - DART Platform .................................................................................................................................................. 81
ModbusTCP Slave Setup ........................................................................................................................................................................................................... 82
Expanded Protocol - PROFINET IO Device (PNIO device) Setup .......................................................................................... 83
Expanded Protocol - EtherNet/IP Adapter (EIP adapter) Setup .................................................................................................... 84
Using Expanded Protocol ............................................................................................................................................................................................................ 85
Using General Purpose Register (GPR) ................................................................................................................................................................... 86
Emergency Stop Function .......................................................................................................................................................................................................... 94
Protective Stop ........................................................................................................................................................................................................................................... 95
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