Doosan M0609 Installation Manual 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 ........................................................................................ 35
Fixating the robot .......................................................................................................................................................... 35
3.3.1
Connecting a tool to the robot .................................................................................................................................. 37
3.3.2
Connecting the robot to the control box ................................................................................................................ 39
3.3.3
Connecting the control box to the teach pendant .............................................................................................. 42
3.3.4
Plugging the robot into the control box ................................................................................................................... 44
3.3.5
4. Interfaces ..................................................................................... 46
4.1 Flange I/O ............................................................................................................ 46
Flange digital output specifications .......................................................................................................................... 48
4.1.1
Flange digital input specification ............................................................................................................................... 49
4.1.2
4.2 Control box I/O connections ........................................................................... 51
Configuring the safety contact input terminal block (TBSFT) .......................................................................... 52
4.2.1
Configuring the safety contact output terminal block (TBSTO) ...................................................................... 53
4.2.2
Configuring the digital I/O power terminal block (TBPWR) ............................................................................. 54
4.2.3
Configuring the configurable digital I/O blocks (TBCI1-4 and TBCO1-4) ................................................... 55
4.2.4
Configuring the analog I/O terminal block (TBAIO) ........................................................................................... 62
4.2.5
Encoder Input Terminal (TBEN1, TBEN2) Configuration .............................................................................. 64
4.2.6
4.3 Connecting to a network .................................................................................. 67
Connecting to an external device - Vision sensor ............................................................................................. 68
4.3.1
ModbusTCP Slave Setup ........................................................................................................................................ 68
4.3.2
3