Doosan A0509 Installation Manual page 91

Mode State
Auto-measure
Safety Stop
Servo Off
Mode State
Backdrive
Hold
Backdrive
Release
-
Backdrive
Servo Off
Initializing
continue executing the task program.
 The weight and center of gravity point of the end effector
are measured automatically. Please note that the safety
monitoring functions of the robot are disabled during auto-
measuring.
 The system stopped due to protective stop or exceeding
the safety threshold.
 It monitors the stop status with Safe Operating Stop
(SOS).
 The servo is off due to protective stop, emergency stop or
exceeded safety threshold.
 It is identical to Safe Torque Off (STO).
 All brakes of 6 joints are engaged, and Backdrive motion is
locked.
 Break of one or more joint(s) is released due to the selection
of brake release.
 The brake(s) will not lock by itself. Use caution as the robot
and/or end-effector may fall unless all brakes are engaged
again.
 The servo is off due to emergency stop or exceeded joint
speed threshold during Backdrive Motion.
 It is identical to Safe Torque Off (STO).
 The controller is booting and the robot is initialized.
Description
Description
91
Flange and/or
Base LED
Yellow
Blinking
Yellow
Red (M/H-
Series)
LED Off (A-
Series)
Flange and/or
Base LED
Yellow Blinking
Yellow Blinking
Red (M/H-Series)
LED Off (A-Series)
Red Blinking