Doosan M0609 Installation Manual
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Doosan M0609 Installation Manual

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  • Page 2: Table Of Contents

    2.2.3 2.3 System architecture ..................23 2.4 General product specifications ............... 23 2.5 Robot specifications ..................24 Basic specifications ..............................24 2.5.1 Axis-specific specifications ............................24 2.5.2 Operating radius of the robot ............................ 24 2.5.3 Doosan Robotics Installation Manual v1.3...
  • Page 3 Max. payload within the operating radius ......................27 2.5.4 Tool center position ..............................28 2.5.5 2.6 Labels ........................28 3. Installing the Robot ..............30 3.1 Installation precautions ..................30 3.2 Installation environment................... 30 Installation locations ..............................30 3.2.1 Checking the robot' s operating radius ........................32 3.2.2 3.3 Hardware installation ..................
  • Page 4 7.1 Precautions when transporting the robot ............. 78 7.2 Pose for the robot’s transportation ..............78 7.3 Packaging box specifications ................. 78 8. Maintenance ................80 9. Disposal and Environment ............81 10. Product Warranty and Liability ..........82 Doosan Robotics Installation Manual v1.3...
  • Page 5 11.1 Third party certification ..................84 12. Disclaimer ..................85 Appendix A: System Specifications ..........86 12.1 Robots ......................... 86 11.1.1 M0609 ....................................86 11.1.2 M0617 ....................................87 11.1.3 M1013 ....................................87 11.1.4 M1509 ....................................88 12.2 Control box ......................89 12.3 Teach pendant ....................
  • Page 6 C.2 M1013 ........................100 C.3 M0609 ........................103 C.4 M0617 ........................106 C.5 M1509 ........................109 Doosan Robotics Installation Manual v1.3...

  • Page 7: Preface

    Therefore, any use, copying, or dissemination of them without written permis sion from Doosan Robotics is prohibited. Please note that you will be held solely responsible fo r any improper use or alteration of the patent rights of Doosan Robotics.

  • Page 8: How To Read This Manual

    User Manual: Provides information on how to install the robot mechanically and electrically, as well as information on how to use the robot and how to manage its tasks. • Programming Guide: Provides information on the programming languages used to control t he robot. Doosan Robotics Installation Manual v1.3...

  • Page 9: Safety

    Safety This chapter provides safety information that you must acquaint yourself with before installing or using the robot. All robots have risks associated with high voltage, electricity, and collisions. T herefore, you must observe basic safety precautions when using the robot or its parts in order to reduce the risk of personal injury and of damage to the machine.
  • Page 10 Failure to observe the instructions indicated by this icon may lead to accidents and may also cause serious injury to the worker. Caution Indicates that there is a likelihood of damage to the product or of injury to the worker. Caution Doosan Robotics Installation Manual v1.3...

  • Page 11: General Precautions

    General precautions This chapter describes general Danger and Warning situations that can arise during the use of the robot. Warning • Make sure to install the robot and other electric devices by consulting the installation man ual. Warning • If you intend to mount a device onto the tool when installing the robot, fixate the device u sing appropriate bolts.
  • Page 12 1 hour for it to cool down bef ore performing such tasks. Caution • Do not expose the robot to strong magnetic fields. Doing so may damage the robot. . Doosan Robotics Installation Manual v1.3...

  • Page 13: Purpose Of The Product

    Using the product for purposes other than intended, as enumerated below, shall be considered i mproper use. Doosan Robotics shall not be liable for any damage to and malfunction of the ro bot or any damage to the user's property and personal injury resulting from improper use of th e product.

  • Page 14: Risk Assessment

    IO. For example, the system integrator can preve nt unauthorized persons from changing the robot’s safety configuration by using features such a s password protection. Particularly important when evaluating risk in collaborative robotic applications are: • Severity of each individual potential collision Doosan Robotics Installation Manual v1.3...
  • Page 15 • Likelihood of occurrence of each individual potential collision • Likelihood of avoiding each individual potential collision If the robot has been installed into a non-collaborative robot application where it is not possibl e to eliminate risks (e.g. when using a dangerous tool) in a reasonable or adequate manner us ing built-in safety features, the system integrator must conclude in the risk assessment that prot ective devices should be added to the system (e.g., using devices that protect the integrator du ring installation and programming).

  • Page 16: Potential Risks

    Object dropping from the tool due to an incorrect grasp or abrupt power loss. • Consequences of mistakenly pressing the emergency stop button of another apparatus. • Errors due to unauthorized change of safety configuration parameter values Doosan Robotics Installation Manual v1.3...

  • Page 17: Validity And Responsibilities

    Validity and responsibilities This manual does not cover information on how to design, install, and operate robot application s integrated with other systems. In addition, it also does not cover information about peripherals that can affect the safety of the integrated system. The system administrator must comply with the safety requirements demanded by the national s tandards and regulations of the country where the robot is to be installed.

  • Page 18: Exploring The Product

    Exploring the Product Components Robot Control Box Teach Pendant Control Box Power Cable Robot Connection Cable User Manual Note  The product’s components may vary depending on the robot model. Doosan Robotics Installation Manual v1.3...

  • Page 19: Name Of Parts And Their Functions

    Name of parts and their functions 2.2.1 Robot  Name of parts Part Part Tool Flange Link1 Link2 Base...
  • Page 20 The I/O port for tool control (digital input 3ch, output 3ch) Flange I/O(2ea) Displays the status of the robot Cockpit (teach The button used to perform direct teaching (optional) button) Used for the robot’s power supply and communication. Connector Doosan Robotics Installation Manual v1.3...

  • Page 21: Control Box

    2.2.2 Control box Part Description Turns on/off the main power of the control box Power switch The terminal for connecting to another robot’s control box and I/O terminal peripherals The terminal to which the control box’s power cord is attached Power terminal Teach pendant The terminal through which the teach pendant cable is connected to...

  • Page 22: Teach Pendant

    The LED color changes according to the power status of the teach Power LED pendant. Hand Guide While holding down the hand guide button, you can control the robot Button movement by manually Doosan Robotics Installation Manual v1.3...

  • Page 23: System Architecture

    Robot: an industrial collaborative robot that can be used to transport objects and assemble parts. You can use various tools with the robot by attaching them to the robot. General product specifications M-Series Technical Data M0609 Basic specifications (see Section 1.5.1) M0617 Axis-specific specifications (see Section 1.5.2) Operating radius (see Section 1.5.3) M1013 Payload (see Section 1.5.4)

  • Page 24: Robot Specifications

    150 °/s 180 °/s 180 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 225 °/s 2.5.3 Operating radius of the robot Doosan Robotics Installation Manual v1.3...
  • Page 25  M0609  M0617  M1013...
  • Page 26  M1509 Doosan Robotics Installation Manual v1.3...

  • Page 27: Max. Payload Within The Operating Radius

    2.5.4 Max. payload within the operating radius Within its operating radius, the robot’s maximum payload depends on the distance to the center of gravity. The following diagrams show the payload relative to each distance. Note  These payload diagrams are based on the assumption that the tool load volume is small. Even when you use a tool with the same weight as one of the tools in the diagrams above, if the tool’s load volume is large, the tool’s center of gravity can be more limited than the corresponding payload, and in such cases, vibrations can occur.

  • Page 28: Tool Center Position

    2.5.5 Tool center position See the figure below for the center position of the tool. Labels Be careful not to remove or damage the labels attached to the robot and controller. Doosan Robotics Installation Manual v1.3...

  • Page 30: Installing The Robot

    • Install the robot in a location where the floor is firm and level. • Install the robot in a location where leakage does not occur, and the temperature and hum Doosan Robotics Installation Manual v1.3...
  • Page 31 idity can be kept at a constant level. • Make sure that there are no flammable or explosive objects near the robot’s installation lo cation. Caution • Installing a system in a location other than those recommended may result in a reduction i n the performance and lifespan of the robot.

  • Page 32: Checking The Robot's Operating Radius

    3.2.2 Checking the robot's operating radius Check the operating radius ofthe robot and ensure sufficient space for installation. The operatin g radius varies depending on the robot model.  M0609  M0617 Doosan Robotics Installation Manual v1.3...
  • Page 33  M1013  M1509...
  • Page 34 Therefore, it is not recommended to let the tool move in the cylindrical section where the tool’s movement can pass through the top or bottom of the base. Doosan Robotics Installation Manual v1.3...

  • Page 35: Hardware Installation

    Hardware installation Before using the robot, you must install system essentials — the robot, control box, and teach pendant — in the operating radius and plug them in. How to install each of them is described below 3.3.1 Fixating the robot Fixate the robot by fixing M8 bolts into the four 9.5 mm holes in the robot base.
  • Page 36 Doosan Robotics Installation Manual v1.3...

  • Page 37: Connecting A Tool To The Robot

    3.3.2 Connecting a tool to the robot Use four M6 bolts to secure your desired tool to the tool flange.  When fixing the bolts, it is recommended that you tighten them with a torque of 9 Nm.  If you need to get the robot precisely installed in a fixed spot, you can do so by using a positioning pin of Φ6.
  • Page 38 Tool output flange, ISO 9409-1-50-4-M6 Doosan Robotics Installation Manual v1.3...

  • Page 39: Connecting The Robot To The Control Box

    3.3.3 Connecting the robot to the control box Connect the robot’s cable to the corresponding terminal of the control box and then secure the cable by fastening the fixing hook. Connect the other end of the robot cable to the correspond ing terminal of the control box until it clicks, so that the cable does not come off.
  • Page 40 If the control box is affected by electromagnetic noise or, if it affects other equipment, ferrite cores should be installed for the normal operation of the system. Ferrite cores are installed in the following places. Doosan Robotics Installation Manual v1.3...
  • Page 41 ...

  • Page 42: Connecting The Control Box To The Teach Pendant

    IP20 or higher rating. Take special care in environments containing conductive dust.  When the teach pendant cable is placed, the curvature of the cables is greater than or equal to the minimum curvature radius (120mm). Doosan Robotics Installation Manual v1.3...
  • Page 43 Note  When establishing a system, it is recommended you install a noise reduction facility to prevent the influence of inter-device noise or a malfunction of the system.  If the teach pendant is affected by electromagnetic noise, or if affects other equipment, you must install ferrite cores for the normal operation of the system.

  • Page 44: Plugging The Robot Into The Control Box

    Do not arbitrarily modify or extend the robot cable. Doing so may result in a fire or cause the control box to fail.  Make sure that all cables are connected to the control box before plugging in the control box. Always use the genuine cables that come with the package. Doosan Robotics Installation Manual v1.3...
  • Page 45 Note  When establishing a system, it is recommended that you install a power switch that can turn off all equipment in the system at once.  To supply power to your system, it must meet minimum requirements such as the grounding and installation of an earth leakage circuit breaker.

  • Page 46: Interfaces

     Phoenix contact 1404182(Right Angle) The pin map for each connector is as follows:  Schematic Diagram X1 and X2 connectors each provide different I/O features, and for their I/O configurations, see the tables below. Doosan Robotics Installation Manual v1.3...
  • Page 47  I/O configuration of X1 connector (digital in/output) Signal Digital input 1 Digital output 1 Digital output 2 Digital output 3 +24V Digital input 3 Digital input 2  I/O configuration of X2 connector (digital in/output) Signal Digital input 4 Digital output 4 Digital output 5 Digital output 6...

  • Page 48: Flange Digital Output Specifications

    The figure below is an example of a digital output configuration, so please consult it when connecting a tool or gripper to the robot. When configuring a circuit, make sure to cut off power to the robot beforehand. Doosan Robotics Installation Manual v1.3...

  • Page 49: Flange Digital Input Specification

    4.1.2 Flange digital input specification Flange digital input is made up of photo coupler input. Based on 24 V input, the level of current is limited to 5mA by the internal resistance. The electrical specifications for digital input are as follows: Parameter Unit Input voltage...
  • Page 50 +24V Flange Interface Board 4.4K Doosan Robotics Installation Manual v1.3...

  • Page 51: Control Box I/O Connections

    Make sure to turn off the power when connecting equipment to the control box's I/O terminals to prevent damage to or malfunction of the product.  Doosan Robotics will not provide compensation for any damage to the product caused by improper terminal connections or carelessness on the part of the user. ...

  • Page 52: Configuring The Safety Contact Input Terminal Block (Tbsft)

    When even one of the contacts is opened, the robot stops according to its safety stop mode settings, and the LED on the right side of the TBSFT terminal block turns on. EMGA(Red), EMGB(Red), PRDA(Yellow), PRDB(Yellow) Doosan Robotics Installation Manual v1.3...

  • Page 53: Configuring The Safety Contact Output Terminal Block (Tbsto)

    Caution  This terminal must be connected to devices that output a safety signal to their respective contacts to check for disconnections and line shorts. If you want to connect a peripheral that outputs a safety signal as voltage to a safety controller, see the description of the configurable digital IO terminal block.

  • Page 54: Configuring The Digital I/O Power Terminal Block (Tbpwr)

    SMPS. If an electric current of more than 2 A is needed for configurable digital I/O, connect an external power source to VIO (IO 24 V) and GIO (IO GND). Doosan Robotics Installation Manual v1.3...

  • Page 55: Configuring The Configurable Digital I/O Blocks (Tbci1-4 And Tbco1-4)

    4.2.4 Configuring the configurable digital I/O blocks (TBCI1-4 and TBCO1-4) The control box features digital I/O consisting of 16 inputs and 16 outputs. The control box’s di gital I/O, which is shown below, can be used to connect peripherals required for robot control o r to input/output safety signals when set as dualized safety I/O.
  • Page 56 This method involves connecting a switch or a contact between the VIO terminal and Ixx terminal in the TBCI1~TBCI4 terminal blocks. As output of an external device only works through a relay through open/close of contact, the system becomes electrically insulated from an external device. Doosan Robotics Installation Manual v1.3...
  • Page 57 Dry Contact Connection Safety Controller Board VIO (24V) TBCI1~TBCI4 I01~I16 NPN output PNP output (Sink type) (Source type) with Relay with Relay • When receiving a wet-contact input The system receives a voltage-type signal from an external device. When the output of an external device is a source type, it receives 24V/0V voltage as input.
  • Page 58 If more than 2A of current is needed in total, the power of digital I/O (VIO/GIO) of the terminal I/O power terminal blocks (TBPWR) should be disconnected from the power source inside (VCC/GND), and an external power supply device should be connected. Doosan Robotics Installation Manual v1.3...
  • Page 59 Safety Controller Board FUSE 2A TBPWR SMPS Digital Isolator O01~O16 & Logic Voltage Source Output TBCO1~TBCO4 • When connecting with a negative common and sink-type input device When the digital I/O output is connected to a sink-type input device, a common ground is configured by connecting the Oxx terminal of the TBCO1~ TBCO4 terminal block to the input terminal of an external device, and connecting GIO with a negative common of an external device.
  • Page 60 The relay is connected between the Oxx terminal and GIO terminal of the TBCO1~TBCO4 terminal block to deliver a contact-type input signal. The power supply device can be connected to an external device, if needed. Doosan Robotics Installation Manual v1.3...
  • Page 61 Safety Controller External Device Board FUSE 2A COM(P) TBPWR SMPS Digital Isolator O01~O16 & Logic Positive common Voltage Source Source type Input Output TBCO1~TBCO4 Caution  A general digital I/O device can stop operating at any time due to control box power cut-off, detection of an error from self-diagnostics and the task program settings.

  • Page 62: Configuring The Analog I/O Terminal Block (Tbaio)

    These terminals make it possible to output a voltage or current using an external device operat ed with analog I/O and to receive a signal from a sensor that outputs an analog voltageor curr ent. In order to achieve the maximum accuracy of analog I/O, please observe the following instructio Doosan Robotics Installation Manual v1.3...
  • Page 63 • Use a shielded cable or twisted pair. • Connect the shielded cable to the ground terminal inside the control box • Because current signals are relatively less sensitive to interference, use equipment that op erates in current mode for the analog I/O terminals. You can change the terminals’ mode (voltage or current) in the software program.

  • Page 64: Encoder Input Terminal (Tben1, Tben2) Configuration

    For maximum accuracy, ensure the following. Use shielded twisted-pair cables to reduce noise. • Connect the shield to the ground terminal inside the control box. In the case of S phase inputs, connect a pull-up or pull-down resistance according to the sensor Doosan Robotics Installation Manual v1.3...
  • Page 65 type to prevent floating. • Connect the Incremental Encoder A, B, Z...
  • Page 66 • For S phase inputs, connect the pull-up and pull-down resistance according to the type of sensor to prevent floating status. • Connect NPN Sensor • Connect PNP Sensor Doosan Robotics Installation Manual v1.3...

  • Page 67: Connecting To A Network

    Connecting to a network By connecting to the network router in the control box, you can use an external Internet networ k, TCP/IP devices, and Modbus devices. Connect the cable to the dedicated port that suits the purpose of the network. •...

  • Page 68: Connecting To An External Device - Vision Sensor

    DRL (Doosan Robot Language) in the Task Writer menu of the teaching pendant. The detail and integration example of the external vision sensor command of DRL (Doosan Robot Language) are documented in the Doosan robotics programming manual.

  • Page 69: Expanded Protocol - Profinet Io Device (Pnio Device) Setup

    The following are descriptions of implementation characteristics of general functions for Industrial Ethernet.  The Industrial Ethernet function of Doosan Robotics controllers does not use a separate ASIC, but implements its function based on TCP/IP, so it does not support real-time performance. ...
  • Page 70 The GPR function is only provided through DRL, and the DRLs used are as follows: For more information about DRL, please refer to the Programming Manual.  set_output_register_bit(address, val)  set_output_register_int(address, val)  set_output_register_float(address, val)  get_output_register_bit(address)  get_output_register_int(address)  get_output_register_float(address)  get_input_register_bit(address)  get_input_register_int(address)  get_input_register_float(address) Doosan Robotics Installation Manual v1.3...

  • Page 71: Robot Mode And Status

    Robot Mode and Status The operation modes of the robot consist of Manual Mode where the user controls the robot di rectly, and Auto Mode where the robot operates without direct user control. Manual Mode This is the mode in which the robot operates according to direct user control. The robot only o perates when a button related to an action is pressed, and releasing the button results in stopp ing the corresponding action.
  • Page 72 Please note that the safety monitoring functions of the robot are disabled.  The system stopped due to protective stop or exceeding Safety Stop of safety threshold. Yellow  It monitors the stop status with SOS (Safe Operating Doosan Robotics Installation Manual v1.3...
  • Page 73 Flange LED Mode Status Description Stop).  The servo is off due to protective stop, emergency stop or Servo Off exceeding of the safety threshold.  It is identical to STO (Safe Torque Off).

  • Page 74: Safety-Related Features

    The TCP is the position calculated by adding the TCP offset from the flange’s center. Safety-Rated Stop Function This is the stop function and stop monitoring function of Doosan Robotics, and it uses the safe ty function defined in IEC 61800-5-2. Safety Fu...

  • Page 75: Emergency Stop Feature

    Safety Fu nction Function Description and Failure Detection PFHd PL, SIL Name o STO stop. All joints are stopped with the maximum deceleration possible, an PL d Cat d the SOS stop monitoring function is set. 1.41E-7 (Safe If deceleration is not sufficient during stopping, the method is set t Stop 2) SIL 3 o STO stop.

  • Page 76: Protective Stop

    For information about the protective device connection, refer to sections 4.2.1 and 4.2.4. Safety Rated Monitoring Function Doosan robots feature a safety rated monitoring function that can be used as a risk reduction measure through risk assessment. The threshold each monitoring function detects can be configured at Setting>Safety Parameter of the TP UI.

  • Page 77: Safety-Rated Io

    SIL 3 Safety-Rated IO The robots of Doosan Robotics feature a safety-rated input interface capable of connecting protective stop signals from safety protective devices, external emergency stop signal input and 3-position Enable Switch. They also feature a safety-rated output interface capable of outputting internal status...

  • Page 78: Transporting The Robot

    • Doosan Robotics will not be held responsible for any damage to the product caused durin g its transport. Therefore, make sure to carry the product by following the instructions give n in the user manual.
  • Page 79 Model Length Width Height M1013 968 mm 500 mm 435 mm M1509 742 mm 500 mm 400 mm...

  • Page 80: Maintenance

    Maintenance Maintenance work for the product must be conducted through Doosan Robotics or Doosan Rob otics-designated vendors. Maintenance work aims to keep the system o erational or to return th e system to operable status when a problem has occurred. Maintenance work includes not only the actual repair work but also diagnosing problems with the system.

  • Page 81: Disposal And Environment

    When discarding all or part of the system, please comply with the existing relevant laws and re gulations. For information on disposal of the system, please contact Doosan Robotics. The following symbols are attached to the robot to indicate compliance with the above-mentione...

  • Page 82: 10. Product Warranty And Liability

    • Software or a part not provided by Doosan has been installed • The Doosan product has broken down due to improper repair or maintenance work by you, a non-authorized maintenance technician, or other unauthorized people. • You have modified a Doosan product without prior approval from the manufacturer.

  • Page 83: Transfer

    This warranty is included in the Doosan robot’s warranty period and is transferable from the ori ginal customer to another party if the Doosan robot is to be sold to the party through a private sale. However, the warranty remains applicable only when a notice about such an act has bee n given to the manufacturer, and the warranty period is valid.

  • Page 84: 11. Product Certification

    11. Product Certification 11.1 Third party certification To provide the best service for robot integrators, Doosan Robotics has had its robots certified b y the following authorized testing institutes: Doosan Robotics Installation Manual v1.3...

  • Page 85: 12. Disclaimer

    Doosan Robotics makes constant efforts to improve product stability and product performance. F or that reason, Doosan Robotics has the right to upgrade the product without prior notice. Doos an Robotics tries our best to ensure the accuracy and precision of all information provided in th is manual.

  • Page 86: Appendix A: System Specifications

    Analog I/O Option RS232/485/Ethernet Option Cables Touch panel - controller (4.5 m) / controller - robot (6 m) Weight 27 kg Mounting Floor / wall / ceiling Protection rating IP 54 Noise < 65 dB Doosan Robotics Installation Manual v1.3...

  • Page 87: 11.1.2 M0617

    11.1.2 M0617 Category Name Specifications Axis configuration Payload 6 kg Performance Max radius 1700 mm TCP Speed 1m/s Repeatability ± 0.1mm J1 Range / Speed ±360° / 100°/s J2 Range / Speed ±360° / 100°/s J3 Range / Speed ±165° / 150°/s Joint Movement J4 Range / Speed ±360°/ 225°/s...

  • Page 88: 11.1.4 M1509

    Touch panel - controller (4.5 m) / controller - robot (6 m) Weight 33 kg Mounting Floor / wall / ceiling Protection rating IP 54 Noise < 65 dB 11.1.4 M1509 Category Name Specifications Axis configuration Performance Payload 15 kg Doosan Robotics Installation Manual v1.3...

  • Page 89: Control Box

    Max radius 900 mm TCP Speed 1m/s Repeatability ± 0.1mm J1 Range / Speed ±360° / 150°/s J2 Range / Speed ±360° / 150°/s J3 Range / Speed ±150° / 180°/s Joint Movement J4 Range / Speed ±360°/ 225°/s J5 Range / Speed ±360°...

  • Page 90: Teach Pendant

    Industrial Network Modbus TCP Rated supply voltage 100-240VAC 50/60Hz 12.3 Teach pendant Name Specifications Weight 0.8 kg Dimensions 264 x 218 x 42 mm Protection Rating IP20 Screen Size 10.1 inch Cable Length 4.5 m Doosan Robotics Installation Manual v1.3...

  • Page 91: Appendix B: Certification

    Appendix B: Certification CE (Machinery Directive) ...

  • Page 92: Ce (Electro Magnetic Compatibility Directive)

    CE (Electro Magnetic Compatibility Directive)  Doosan Robotics Installation Manual v1.3...

  • Page 93: Nrtl (Us, Canada)

    NRTL (US, CANADA) ...

  • Page 94: Voluntary Safety Certification (Kcs)

    Voluntary Safety Certification (KCs)  Doosan Robotics Installation Manual v1.3...
  • Page 96 Doosan Robotics Installation Manual v1.3...

  • Page 98: Declaration Of Incorporation

    Declaration of Incorporation  Doosan Robotics Installation Manual v1.3...

  • Page 99: Functional Safety Certificate

    Functional Safety Certificate ...

  • Page 100: Annex C Stop Distance And Stop Time

    Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and when the robot is stopped in a downward movement vertical to the ground. C.2 M1013 C.2.1 Stop Category 1 Doosan Robotics Installation Manual v1.3...
  • Page 101 (a) Stop Distance at 33% of Max. Load (rad) (d) Stop Time at 33% of Max. Load (ms) (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max.
  • Page 102 (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max. Load (ms) Figure C.2: Stop Distance and Stop Time of Joint 2 (Shoulder) Doosan Robotics Installation Manual v1.3...
  • Page 103 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.1355 285.774 Axis 3 0.3138 Joint 3 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.1459 203.747 Axis 3 0.1389 C.3 M0609 C.3.1 Stop Category 1...
  • Page 104 (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max. Load (ms) Figure C.4: Stop Distance and Stop Time of Joint 1 (Base) Doosan Robotics Installation Manual v1.3...
  • Page 105 (a) Stop Distance at 33% of Max. Load (rad) (d) Stop Time at 33% of Max. Load (ms) (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max.
  • Page 106 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.6209 277.195 Axis 3 0.1809 Joint 3 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.1212 102.650 Axis 3 0.4423 C.4 M0617 Doosan Robotics Installation Manual v1.3...
  • Page 107 C.4.1 Stop Category 1 (a) Stop Distance at 33% of Max. Load (rad) (d) Stop Time at 33% of Max. Load (ms) (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max.
  • Page 108 (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max. Load (ms) Figure C.8: Stop Distance and Stop Time of Joint 2 (Shoulder) Doosan Robotics Installation Manual v1.3...
  • Page 109 (a) Stop Distance at Max. Stretch Level (rad) (b) Stop Time at Max. stretch Level (ms) Figure C.9: Stop Distance and Stop Time of Joint 3 (Elbow) C.4.2 Stop Category 0 Joint 1 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 1 0.0867 80.898...
  • Page 110 (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max. Load (ms) Figure C.10: Stop Distance and Stop Time of Joint 1 (Base) Doosan Robotics Installation Manual v1.3...
  • Page 111 (a) Stop Distance at 33% of Max. Load (rad) (d) Stop Time at 33% of Max. Load (ms) (b) Stop Distance at 66% of Max. Load (rad) (e) Stop Time at 66% of Max. Load (ms) (c) Stop Distance at Max. Load (rad) (f) Stop Time at Max.
  • Page 112 Joint 2 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.09471 296.568 Axis 3 0.44703 Joint 3 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Axis 2 0.14045 178.785 Axis 3 0.12168 Doosan Robotics Installation Manual v1.3...

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M0617M1013M1509

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