Doosan M0609 Installation Manual page 72

Mode Status
Manual
Handguiding
Recovery Ready
Recovery
Jog
Recovery
Handguiding
Safety Stop
Servo Off
Others Backdrive
Mode Status
Auto Ready
Auto
Operating
Handguiding
Auto Ready
Handguiding
Auto-measure
Safety Stop
Doosan Robotics Installation Manual v1.3
Description
 The manipulator can be operated directly by hand during
teaching.
 Recovery in progress.
 All safety functions except for axis and TCP speed
monitoring are disabled during recovery.
 It monitors the stop status with SOS (Safe Operating Stop).
 The jogs of each axiscan be used to correct the exceeding
of the safety threshold.
 The manipulator can be moved directly by hand to correct
the exceeding of the safety threshold.
 The system stopped due to protective stop or exceeding of
the safety threshold.
 It monitors the stop status with SOS (Safe Operating Stop).
 The servo is turned off due to protective stop, emergency
stop or exceeding the safety threshold.
It is identical to STO (Safe Torque Off).
 The system is operating without power.
 During an emergency, with no power supplied to the
manipulator, the brake can be released to allow the robot to
be pushed by hand.
 Use caution as the axis will not lock by itself and will fall if
the brakethe brak is not engaged again.
Description
 The Teach Pendant UI is in the actual mode execution
screen in a single work space.
 Pressing the Execute button will execute the task
program.
 White is displayed for a single work space and green is
displayed for a collaborative work space.
 Task program is being executed.
 White is displayed for a single work space and green is
displayed for a collaborative work space.
 The Handguiding command is executed during task
program execution.
 The system waits until the user presses the Handguiding
button.
 It monitors the stop status with SOS (Safe Operating
Stop).
 The robot pose can be changed by pressing the
Handguiding button.
 After the robot stops, enter Auto Handguiding Finish
through the Safety IO to set Auto Operating and then
continue executing the task program.
 The weight center point of the end effector is measured
automatically. Please note that the safety monitoring
functions of the robot are disabled.
 The system stopped due to protective stop or exceeding
of safety threshold.
 It monitors the stop status with SOS (Safe Operating
72
Flange LED
Cyan Flashing
Yellow Flashi
ng
Yellow Flashi
ng
Yellow Flashi
ng
Yellow
Red
Yellow Flashi
ng
Flange LED
White / Gree
n
White Flashing
/
Green Flashin
g
Cyan
Cyan Flashing
Yellow Flashi
ng
Yellow