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Doosan M0609 Installation Manual

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  • Page 2: Table Of Contents

    Preface ....................9 Copyright ........................9 Open Source Software License Information (OSS) ..........9 1. Safety.................... 10 Manual Indication Conventions ................10 1.1 Safety Symbols ....................10 1.2 General Instructions ..................12 1.3 Product Usage ....................14 1.4 Risk Assessment ....................15 1.5 Potential Risks ....................
  • Page 3 Basic Specification ..............................24 2.5.1 Axis Specification ................................ 25 2.5.2 Robot operating space ............................. 26 2.5.3 Max. Payload within operating space ........................28 2.5.4 Tool Center Point (TCP) ............................29 2.5.5 2.6 Nameplate and Label ..................29 3. Installation ................... 31 3.1 Cautions during Installation ................
  • Page 4 Using General Purpose Register (GPR) ......................66 4.3.7 5. Robot Mode and Status ............. 67 5.1 Manual Mode ..................... 67 5.2 Auto Mode ......................67 5.3 Status and Flange LED Color for Each Mode ..........68 6. Safety Functions ................ 70 Doosan Robotics Installation Manual v1.7...
  • Page 5 6.1 Introduction ....................... 70 6.2 Safety-Rated Stop Function ................71 Emergency Stop Function ............................72 6.2.1 Protective Stop ................................72 6.2.2 6.3 Safety Rated Monitoring Function ..............73 6.4 Safety-Rated I/O ....................74 7. Transportation ................75 7.1 Caution during Transportation ..............75 7.2 Pose for Robot Transportation ..............
  • Page 6 11.1 Third-Party Certification .................. 81 12. Indemnification ................82 Annex A System Specification ............83 A.1 Robot ........................83 A.1.1 M0609 ....................................83 A.1.2 M1509 ....................................84 A.1.3 M1013 ....................................85 A.1.4 M0617 ....................................86 A.2 Control box ......................87 A.2.1 CS-01 (AC Controller) ..............................
  • Page 7 Annex C Stop Distance and Stop Time ........98 C.1 Measurement Methods and Conditions ............98 C.2 M1013 ......................... 101 C.3 M0609 ......................... 104 C.4 M0617 ......................... 107 C.5 M1509 ......................... 110 Annex D Control Box for AGV ............. 113 D.1 Product Introduction ..................
  • Page 8 Doosan Robotics Installation Manual v1.7...

  • Page 9: Preface

    The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In the event of abuse or modification of the patent rights, the user will be solely responsible for the consequences.

  • Page 10: Safety

    This symbol means that potentially dangerous situations can occur due to electrical conditions such as high voltage. Failure to observe instructions with this symbol may result in serious accidents that may cause serious injury to the operator. Warning Doosan Robotics Installation Manual v1.7...
  • Page 11 Symbol Description This symbol means potentially dangerous situations can occur. Failure to observe instructions with this symbol may result in serious accidents that may cause serious injury to the operator. Warning This symbol means dangerous situations can occur due to overheating. Failure to observe instructions with this symbol may result in serious accidents that may cause serious injury to the operator.

  • Page 12: General Instructions

    Enable/disable the direct teaching function when the robot has completely stopped. If the direct teaching function is enabled/disabled during robot operation, malfunctions may occur. • If the robot axis must be rotated when the robot is not operated, it can be rotated at a torque Doosan Robotics Installation Manual v1.7...
  • Page 13 greater than 400 Nm. • Modifying the robot without prior approval may cause critical breakdowns and accidents. Caution • Operating the robot and controller for an extended period of time generates heat. Do not touch the robot with bare hands after operating for an extended period of time. Before performing work that requires touching the robot, such as tool installation, leave the robot for more than 1 hour after turning off the power of the control unit to cool down the robot.

  • Page 14: Product Usage

    The following uses are considered inappropriate because they exceed the boundaries of the product’s intended purpose. Doosan Robotics will not be held responsible for any damage and malfunctioning of the robot, property losses and injuries to users due to such inappropriate uses.

  • Page 15: Risk Assessment

    Risk Assessment One of the most important aspects of a system integrator is risk assessment. Risk assessment is legally mandatory in most countries. In addition, safety assessment of robot installation changes according to the overall system integration method, so it is impossible to perform risk assessment solely with the robot.

  • Page 16: Potential Risks

    Object falls from the tool due to inappropriate grip or sudden power shortage • Accidents that occur due to mistaking an emergency stop button of different equipment • Errors that occur due to unauthorized safety parameter modification Doosan Robotics Installation Manual v1.7...

  • Page 17: Validity And Responsibility

    Validity and Responsibility This manual does not provide information about the design, installation and operation methods of robot applications integrated with other system. In addition, this manual does not provide information that may influence the safety of the integrated system. The system administrator must install the robot in a way that observes various safety requirements according to the related national standards and regulations.

  • Page 18: Product Introduction

    Product Introduction Component Check Robot Control box Teach pendant Control box power supply cable Robot connection cable User manual Note  Components may vary depending on the robot model. Doosan Robotics Installation Manual v1.7...

  • Page 19: Names And Functions

    Names and Functions 2.2.1 Robot Names of Parts  Name Name Base Link2 Link1 Tool flange...
  • Page 20 “5.3 Flange LED Status and Flange LED Color for Each Mode.” I/O port for tool control. Flange I/O (Digital input 3ch, output 3ch) Connector Used for supplying power to and communication of the robot. Doosan Robotics Installation Manual v1.7...

  • Page 21: Control Box

    2.2.2 Control box Item Description I/O connection Used to connect the control box or peripherals. terminal (internal) Teach pendant Used to connect the teach pendant cable with the control box. cable connection terminal Power switch Used to turn ON/OFF the main power of the control box. Robot cable connection Used to connect the robot cable to the control box.

  • Page 22: Teach Pendant

    Turns ON when power is supplied. Power LED Emergency stop Press the button to stop robot operation in case of an emergency. button Hand guiding Press and hold the button to move the robot freely into a desired button pose. Doosan Robotics Installation Manual v1.7...

  • Page 23: System Configuration

    System Configuration Power Command/ Supply/ Monitoring Network Teach pendant Control box Robot • Teach pendant: It is a device that manages the overall system, and it is capable of teaching the robot specific poses and setting robot and control box related settings. •...

  • Page 24: Product Specifications, General

    10≤f< 57㎐ - 0.075mm amplitude 57≤f≤150㎐ – 1G Impact Max Amplitude : 50㎨ (5G) * Time: 30㎳, Pulse: 3 of 3 (X,Y,Z) Operating Temperature 0 - 45℃ (273K-318K) Storage Temperature -5 - 50℃ (268K-323K) Humidity 20-80% Doosan Robotics Installation Manual v1.7...

  • Page 25: Axis Specification

    2.5.2 Axis Specification Model M0609 M0617 M1013 M1509 Name Operating Angle ±360° (TP:±360°) ±360° (TP:±360°) ±360° (TP:±360°) ±360° (TP:±360°) ±360° (TP:±90°) ±360° (TP:±90°) ±360° (TP:±90°) ±360° (TP:±90°) ±150° (TP:±125°) ±165° (TP:±145°) ±160° (TP:±135°) ±150° (TP:±125°) ±360° (TP:±360°) ±360° (TP:±360°) ±360° (TP:±360°) ±360°...

  • Page 26: Robot Operating Space

    2.5.3 Robot operating space M0609  M0617  Doosan Robotics Installation Manual v1.7...
  • Page 27 M1013  M1509 ...

  • Page 28: Max. Payload Within Operating Space

    This load diagram assumes a small tool load volume. Tools with a larger volume will have greater limitations in payload above the tool’s center of gravity compared to a tool with an equal weight but smaller volume, and in such cases, vibration may occur. Doosan Robotics Installation Manual v1.7...

  • Page 29: Tool Center Point (Tcp)

    2.5.5 Tool Center Point (TCP) Refer to the figure below for TCP. Nameplate and Label Be careful not to remove or damage labels attached to the robot and controller.
  • Page 30 Doosan Robotics Installation Manual v1.7...

  • Page 31: Installation

    Installation Cautions during Installation Warning • Secure sufficient space for installation before installing the robot. If not enough space is secured, the robot may be damaged or the user may be injured. • Safety devices to be connected to the control box must be connected to a safety contact input terminal or a configurable digital I/O set to Safety I/O using dual signals.

  • Page 32: Installation Environment

    Install the robot in a location with no water leakage and constant temperature and humidity. • Check whether there are flammable and explosive materials near the installation location. Caution • Installing the robot in locations other than the recommended locations may result in reduced robot performance and product life. Doosan Robotics Installation Manual v1.7...

  • Page 33: Robot Work Area Check

    3.2.2 Robot Work Area Check Secure installation space considering the operating space of the robot. The operating space varies according to the robot model. Note The grayed areas in the figure are areas where the robot has difficulty performing work. Within this area, the speed of tools is low but the speed of joints is high, so it becomes difficult to perform risk assessment in this area because the robot operates inefficiently.

  • Page 34: Hardware Installation

     The robot will be damaged if it comes in contact with water for an extended period of time. Do not operate the robot in conditions where it can get wet or under water. Doosan Robotics Installation Manual v1.7...

  • Page 35: Connecting The Robot And Tool

    3.3.2 Connecting the Robot and Tool Item Tool Bracket Cable Tool flange Use four M6 bolts to secure the tool on the tool flange.  It is recommended to use tightening torque of 9 Nm to tighten the bolts.  Use a Φ6 place marker pin to accurately install the robot in a fixed location.
  • Page 36 Note Methods of securing the tool may vary according to the tool. For more information about tool installation, refer to the manual provided by the tool manufacturer. Tool output flange, ISO 9409-1-50-4-M6 Doosan Robotics Installation Manual v1.7...

  • Page 37: Connecting The Robot And Control Box

    3.3.3 Connecting the Robot and Control Box Connect the robot cable to the corresponding control box connector and place a securing ring on it to prevent the cable from becoming loose. Push the robot cable’s opposite end into the corresponding control box connector until a click is heard to prevent the cable from becoming loose.
  • Page 38  If the control box is influenced by noise generated by electromagnetic waves, it is necessary to install a ferrite core to ensure normal operation. The installation location is as follows: Doosan Robotics Installation Manual v1.7...

  • Page 39: Connecting The Control Box And Teach Pendant

    3.3.4 Connecting the Control Box and Teach Pendant Push the teach pendant cable into the corresponding control box connector until a click is heard to prevent the cable from becoming loose. 티치 펜던트의 케이블을 컨트롤러에 연결 Caution  Make sure that the pins of the cable end are not damaged or bent before connecting the cable. ...
  • Page 40  If the teach pendant is influenced by noise generated by electromagnetic waves, it is necessary to install a ferrite core to ensure normal operation. The installation location is as follows: Doosan Robotics Installation Manual v1.7...

  • Page 41: Routing Of Robot Cable And Teach Pendant Cable

    3.3.5 Routing of Robot Cable and Teach Pendant Cable Ensure that the robot and teach pendant cable curvature radius is greater than the minimum curvature radius (120 mm) during routing. Caution  Ensure that the curvature radius between the teach pendant cable and teach pendant connector is greater than the minimum curvature radius (120 mm).

  • Page 42: Supplying Power To The Control Box

    Do not modify or extend the robot cable. It can cause fire or control box breakdown.  Make sure that all cables are properly connected before supplying power to the control box. Always use the original cable included in the product package. Doosan Robotics Installation Manual v1.7...
  • Page 43 Note  When configuring the system, it is recommended to install a power switch that can turn off power to all devices in the system at once.  If the input voltage is less than 195V, the robot’s movement may be limited according to the load and motion.

  • Page 44: Interface

    The pin map of each connector is as follows: Schematic Diagram  I/O functions provided through X1 and X2 connectors are different from each other, and refer to the table below for detailed I/O settings. Doosan Robotics Installation Manual v1.7...
  • Page 45 • ▪ X1 Setting (Digital I/O) Signal Digital Input 1 Digital Output 1 Digital Output 2 Digital Output 3 +24V Digital Input 3 Digital Input 2 • ▪ X2 Setting (Digital I/O) Signal Digital Input 4 Digital Output 4 Digital Output 5 Digital Output 6 +24V Digital Input 6...
  • Page 46 The No. 5 terminal of each connector outputs 24V at all times while power is supplied to the robot, so make sure to cut the power supply to the robot when setting up the tool and gripper. Doosan Robotics Installation Manual v1.7...

  • Page 47: Flange Digital Output Specifications

    4.1.1 Flange Digital Output Specifications Flange digital output is a PNP specification, and photo coupler output is set up in the output. The corresponding output channel becomes +24V when digital output is activated. The corresponding output channel becomes open (floating) when digital output is deactivated. The electrical specifications of the digital output are as follows: Parameter Unit...

  • Page 48: Flange Digital Input Specifications

    The figure below is an example of a digital input setup, so refer to it while connecting an input device. Make sure to disconnect the power from the robot when setting up the circuit. +24V Flange Interface Board 4.4K Doosan Robotics Installation Manual v1.7...

  • Page 49: Connecting Control Box I/O

    Turn off the power when connecting terminals to the control box I/O to prevent product damage and breakdown.  Doosan Robotics will not compensate any product damage caused by inappropriate terminal connection or user negligence.  Make sure to turn off the external power source when turning off the control box power.

  • Page 50: Setting The Terminal Block For Contact Input (Tbsft)

    If any of the contacts are open, the robot will stop operation according to the safety stop mode setting, and the LED on the right side of the TBSFT lights up. EMGA (Red), EMGB (Red), PRDA (Yellow), PRDB (Yellow) Doosan Robotics Installation Manual v1.7...

  • Page 51: Setting The Terminal Block For Safety Contact Output (Tbsto)

    Caution  To check for connection losses and connection shortages, this terminal must be connected to devices that output a safety signal as contacts. To connect peripherals that output safety signals as voltages to the safety controller, refer to the description for the Configurable Digital I/O Terminal Block.
  • Page 52 SMPS. If a current greater than 2A is required for the configurable digital I/O, make sure to connect an external power source (24V) to VIO and GIO. Doosan Robotics Installation Manual v1.7...

  • Page 53: Setting The Configurable Digital I/O (Tbci1 - 4,Tbco1 - 4)

    4.2.4 Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4) The digital I/O of the control box consists of 16 inputs and 16 outputs. They are used to connect peripherals required for robot control or are set to dual safety I/O to be used for safety signal I/O purposes.
  • Page 54 Safety Controller Wet Contact Connection (Voltage/Current from Ext. Source) Board VIO (24V) TBCI1~TBCI4 I01~I16 PNP output Pushbutton (Source type) / Switch Common Ground NPN output (Sink type) with Relay Doosan Robotics Installation Manual v1.7...
  • Page 55 • If a simple load is operated It is a method of connecting loads between the Oxx terminals of TBCO1-TBCO4 terminal blocks and the GIO terminal. Each terminal is capable of outputting a maximum of 1A, but the overall current may be limited according to the calorific value and load.
  • Page 56 TBCO1-TBCO4 terminal blocks to the input terminal of the external device, and connect the GIO to the negative common of the external device to establish a common ground. FUSE 2A TBPWR SMPS Digital Isolator Negative common O01~O16 & Sink type input Logic Voltage Source Output TBCO1~TBCO4 Common Ground COM(N) Doosan Robotics Installation Manual v1.7...
  • Page 57 • If a positive common & source type input device is connected Connect a relay between the Oxx terminal of the TBCO1-TBCO4 terminal blocks and GIO terminal to supply input signals as contacts to the external device. If necessary, an external power supply can be connected to the external device.
  • Page 58 The following is an example of connecting a safety device for operation. • Connect a contact type (Dry Contact) signal emergency switch as a safety input terminal • Connect a voltage type (Wet Contact) signal light curtain as a safety input terminal (common ground) Doosan Robotics Installation Manual v1.7...

  • Page 59: Setting Analog I/O Terminal (Tbaio)

    4.2.5 Setting Analog I/O Terminal (TBAIO) The control box has two analog I/O terminals that can be set to voltage mode or current mode. It can output voltage/current through an external device operated using analog I/O or receive signals from sensors outputting analog voltage/current.
  • Page 60 “Voltage” or “Current” on the teach pendant. Safety Controller Board 4 -20 mA 0 - 10 Vdc AO1~2 4 - 20 mA Field Input IOUT TBAIO Ex)PLC, DCS, Actuator Voltage & Current VOUT Combined 0 - 10 Vdc Doosan Robotics Installation Manual v1.7...

  • Page 61: Setting Encoder Input Terminal (Tben1, Tben2)

    4.2.6 Setting Encoder Input Terminal (TBEN1, TBEN2) The control box provides two TBEN terminals that allow the input of external encoders. They support A, B and Z phases as inputs, and perform counts based on 12Vdc. In addition, S phase can be used as the conveyor’s Start sensor. The figure below shows a sample encoder and sensor configuration, so refer to it while establishing connections.
  • Page 62 • In the case of S phase inputs, connect a pull-up or pull-down resistance according to the sensor type to prevent floating. • Connecting NPN Sensor • Connecting PNP Sensor Doosan Robotics Installation Manual v1.7...

  • Page 63: Network Connection

    Network Connection External Internet, TCP/IP equipment and Modbus equipment can be connected to the network router inside the control box. Connect cables to dedicated ports according to the network application. • WAN: Connecting external Internet • LAN: Connecting peripherals using TCP/IP or Modbus protocol Connecting the cable to the network connection terminal will connect the network (refer to the figure below).

  • Page 64: Connecting External Device - Dart Platform

    It is possible to connect/communication/control functions of the external vision sensor using Doosan Robot Language (DRL), and it is possible to set up the program in the Task Writer. Details and comprehensive examples of Doosan Robot Language (DRL) on external vision sensor functions are provided in the programming manual.

  • Page 65: Modbustcp Slave Setup

    4.3.4 Expanded Protocol - PROFINET IO Device (PNIO device) Setup The robot controllers of Doosan Robotics support the PROFITNET IO Device (Slave) function, which allows data modification after reading the Parameters of the robot from an external device (PROFINET IO Controller/Master). (i.e., Robot parameter monitoring, General Purpose Register (Bit, Int, Float) – refer to 4.3.7 Using General Purpose Register (GPR)).

  • Page 66: Using Expanded Protocol

    The following are descriptions of the 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 67: Robot Mode And Status

    Robot Mode and Status The operation modes of the robot consist of Manual Mode where the user controls the robot directly, and Automatic 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 operates when a button related to an action is pressed, and releasing the button results in stopping the corresponding action.

  • Page 68: Status And Flange Led Color For Each Mode

    Others Backdrive (M-Series) robot to be pushed by hand. LED Off (A Series)  Use caution, as the axis will not lock by itself and will fall if the brake is not engaged again. Doosan Robotics Installation Manual v1.7...
  • Page 69 Mode Status Description LED Color  The Teach Pendant UI is in the actual mode execution screen in a workspace.  Pressing the "Execute" button will execute the task Auto White / Green Ready program.  White is displayed for a standalone zone and green is displayed for a collaborative zone.

  • Page 70: Safety Functions

    Safety Functions Introduction Robots from Doosan Robotics uses various safety-rated monitoring and safety-related electrical interfaces to protect users and devices, and this allows the integration of other devices and additional protection devices. The performance of each safety-rated monitoring and interface satisfies Category 3, Performance Level d(PL d) defined by ISO 13849-1 and Hardware Fault Tolerance 1, Safety Integrity Level 2 (SIL 2) defined by IEC 62061.

  • Page 71: Safety-Rated Stop Function

    Safety-Rated Stop Function This is the stop function and stop monitoring function of Doosan Robotics, and it uses the safety function defined in IEC 61800-5-2. Safety Function Function Description and Failure Detection PFHd PL, SIL Name Immediately cuts off the power supply to all joint module motors, and 2.54E-8...

  • Page 72: Emergency Stop Function

    6.2.2 Protective Stop The robot is equipped with a protective stop function to stop the robot according to signals sent by protective devices. For information about protective device connection, refer to sections 4.2.1 and 4.2.4. Doosan Robotics Installation Manual v1.7...

  • Page 73: Safety Rated Monitoring Function

    Safety Rated Monitoring Function Doosan robots feature various safety rated monitoring functions that can be used as a risk reduction measure through risk assessment. The threshold of each monitoring function that triggers stop can be configured in the Setting>Safety Parameter of the TP UI.

  • Page 74: Safety-Rated I/O

    SIL 2 Safety-Rated I/O 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 and area information.

  • Page 75: Transportation

    When transporting the robot using lifting equipment, make sure to observe all related national and regional regulations. • Doosan Robotics does not assume responsibility for any damages or losses that occur during transportation, so make sure to transport the robot safely according to the user manual. Pose for Robot Transportation...

  • Page 76: Package Specifications

    The box specifications for transport are as follows: Model Length Width Height M0607 742 mm 500 mm 400 mm M0617 1194 mm 500 mm 435 mm M1013 968 mm 500 mm 435 mm M1509 742 mm 500 mm 400 mm Doosan Robotics Installation Manual v1.7...

  • Page 77: Maintenance

    • Maintain the safety settings of the software during maintenance work. • If a particular part is defective, replace it with a new identical part or part approved by Doosan Robotics. • The replaced part must be returned to Doosan Robotics.

  • Page 78: Disposal And Environment

    Therefore, do not dispose of the system along with general industrial or household waste. When disposing of all or part of the system, the relevant laws and legislation must be complied with, and contact Doosan Robotics for detailed information related to the disposal of the system. Doosan Robotics Installation Manual v1.7...

  • Page 79: Product Warranty And Responsibility

    (hereinafter referred to as “Customer”). The warranty period is 1 year starting from the date when the robot was installed. The scope of this warranty limits the Manufacturer's only responsibility for all Doosan products and the Customer's only remedy to the repair or replacement of defective Doosan products.

  • Page 80: Transfer

    10.3 Transfer This warranty is included in the warranty period, and if the Doosan robot is sold to a different individual through a private transaction, the warranty can also be transferred. However, the warranty is only valid if the Manufacturer is notified of this transaction, and the warranty period is still in effect. The assignee of this warranty must observe all conditions stipulated in this warranty.

  • Page 81: Product Certification

    Product Certification 11.1 Third-Party Certification In order to provide the best service for robot integrators, Doosan Robotics has received certification for its robot from the following certified testing facilities.

  • Page 82: Indemnification

    Doosan Robotics continues to upgrade product reliability and performance, and Doosan Robotics has the right to upgrade the product without notification. Doosan Robotics endeavors to ensure that all contents in this manual are accurate. However, it does not assume responsibility for errors or missing information.

  • Page 83: Annex A System Specification

    Annex A System Specification A.1 Robot A.1.1 M0609 Classification Item Specification Axis Structure Payload 6 kg Performance Max. Radius 900 mm TCP Speed 1 m/s Repeatability ± 0.05 mm J1 Range / Speed ±360° / 150°/s J2 Range / Speed ±360°...

  • Page 84: M1509

    Tool Flange & Cable Power Supply DC 24V/ Max. 3A Touch Panel-Controller (4.5 m) / Controller – Robot (6 m) Cable Weight 32 kg Mounting Floor, Ceiling, Wall IP Rating IP 54 Noise < 65 dB Doosan Robotics Installation Manual v1.7...

  • Page 85: M1013

    A.1.3 M1013 Classification Item Specification Axis Structure Payload 10 kg Performance Max. Radius 1300 mm TCP Speed 1 m/s Repeatability ± 0.05 mm J1 Range / Speed ±360° / 120°/s J2 Range / Speed ±360° / 120°/s J3 Range / Speed ±160°...

  • Page 86: M0617

    Tool Flange & Cable Power Supply DC 24V/ Max. 3A Touch Panel-Controller (4.5 m) / Controller – Robot (6 m) Cable Weight 34 kg Mounting Floor, Ceiling, Wall IP Rating IP 54 Noise < 65 dB Doosan Robotics Installation Manual v1.7...

  • Page 87: Control Box

    A.2 Control box A.2.1 CS-01 (AC Controller) Item Specification Weight 13 kg Dimensions 490 x 390 x 287 mm Protection Rating IP40 Interfaces Ethernet / USB / RS-232 I/O Port – Digital I/O 16/16 I/O Port – Analog I/O I/O power supply DC 24V ModbusTCP Master/Slave, ModbusRTU Master, Industrial Network...

  • Page 88: Teach Pendant

    A.3 Teach pendant A.3.1 TP-01 Item Specification Weight 0.8 kg Dimensions 264 x 218 x 42 mm Protection Rating IP30 Screen Size 10.1 inch i Cable Length 4.5 m Doosan Robotics Installation Manual v1.7...

  • Page 89: Annex B Declaration And Certification

    Annex B Declaration and Certification B.1 CE/EU Declaration of Incorporation (Original)

  • Page 90: Europe Machinery Directive Attestation Of Conformity

    B.2 Europe Machinery Directive Attestation of Conformity Doosan Robotics Installation Manual v1.7...

  • Page 91: Europe Emc Directive Attestation Of Conformity

    B.3 Europe EMC Directive Attestation of Conformity...

  • Page 92: U.s. Nrtl Certification (U.s., Canada)

    B.4 U.S. NRTL Certification (U.S., Canada) Doosan Robotics Installation Manual v1.7...

  • Page 93: Functional Safety Certification

    B.5 Functional Safety Certification...

  • Page 94: Voluntary Safety Confirmation Declaration (Kcs)

    B.6 Voluntary Safety Confirmation Declaration (KCs) Doosan Robotics Installation Manual v1.7...
  • Page 96 Doosan Robotics Installation Manual v1.7...

  • Page 98: Annex C Stop Distance And Stop Time

    Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during horizontal movement. 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. Doosan Robotics Installation Manual v1.7...
  • Page 99 C.1.3 Measurement Poses and Conditions Joint 1 Joint 2 Joint 3 100% extension Stop category 0 3% extension Stop category 1 66% extension Stop category 1 100% extension Stop category 1 Table C.1 the pose for 33%, 66%, and 100% of extension...
  • Page 100 �� ��1 Stop initiating position �� Joint2 ��2 �� �� ��3 Stop initiating position �� Joint3 �� ��3 �� ��2 Table C.2 the pose when the stop is initiated and the measured angle (�� �� Doosan Robotics Installation Manual v1.7...

  • Page 101: M1013

    C.2 M1013 C.2.1 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 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 v1.7...
  • Page 103 (a) Stop Distance at Max. Stretch Level (rad) (b) Stop Time at Max. stretch Level (ms) Figure C.3: Stop Distance and Stop Time of Joint 3 (Elbow) C.2.2 Stop Category 0 Joint 1 Extension=100%, Speed=100%, Payload=100% Stopping distance (rad) Stopping time (ms) Joint 1 0.144 Joint 2...

  • Page 104: M0609

    (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 v1.7...
  • 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 Joint 2 (�� 0.034 ��2 Joint 3 (�� 0.122 ��3 Distance (�� 0.151 ���� The joint 2 and joint 3 angles are refer to �� , �� , �� in table C.2 ��2 ��3 �� Doosan Robotics Installation Manual v1.7...

  • Page 107: M0617

    C.4 M0617 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 v1.7...
  • 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) Joint 1 0.095 Joint 2...

  • Page 110: M1509

    (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 v1.7...
  • 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 (�� 0.155 ��2 Joint 3 (�� 0.134 ��3 Distance (�� 0.258 ���� The joint 2 and joint 3 angles are refer to �� , �� , �� in table C.2 ��2 ��3 �� Doosan Robotics Installation Manual v1.7...

  • Page 113: Annex D Control Box For Agv

    Annex D Control Box for AGV D.1 Product Introduction D.1.1 Names and Functions D.1.1.1 Control Box for AGV Item Description I/O connection Used to connect the control box or peripherals. terminal (internal) Used to turn ON/OFF the main power of the control box. Power switch Teach pendant cable connection...

  • Page 114: System Configuration

    It features various I/O ports that allow the connection and use of various equipment and devices. • Robot: It is an industrial collaborative robot that can perform transport or assembly tasks with various tools. Doosan Robotics Installation Manual v1.7...

  • Page 115: Nameplate And Label

    D.1.3 Nameplate and Label D.2 Installation D.2.1 Cautions during Installation Caution • Secure sufficient space in the AGV for installation before installing the control box. If not enough space is secured, the control box may be damaged or the robot or teach pendant cable may have a shortage.
  • Page 116 • Make sure no component is not fixed in the AGV. Doosan Robotics Installation Manual v1.7...

  • Page 117: Hardware Installation

    D.2.3 Hardware Installation Install the robot, control box and teach pendant, the key components of the system in the AGV, and supply power to them before operating the robot. Installation of each component is as follows: D.2.3.1 Securing the Control Box After placing the control box inside the AGV, use M5 bolts in six 6 mm holes in the fixation plate to secure the control box.
  • Page 118 Connect the robot cable to the corresponding control box connector and place a securing ring on it to prevent the cable from becoming loose. Push the robot cable’s opposite end into the corresponding control box connector until a click is heard to prevent the cable from becoming loose. Doosan Robotics Installation Manual v1.7...
  • Page 119 Caution  Do not disconnect the robot cable while the robot is turned on. This can cause damage to the robot.  Do not modify or extend the robot cable.  When installing the control box in the AGV, secure at least 50 mm of space on each side of the control box to enable ventilation.
  • Page 120 Do not install the control box and teach pendant in a dusty or wet environment.  The control box and teach pendant must not be exposed to a dusty environment. Be especially careful in environments with conductive dust. Doosan Robotics Installation Manual v1.7...
  • Page 121 Note  When configuring the system, it is recommended that a noise reducer be installed to prevent noise effects and malfunction of the system.  If the teach pendant is influenced by noise generated by electromagnetic waves, it is necessary to install a ferrite core to ensure normal operation.
  • Page 122 D.2.3.4 Routing of Robot Cable and Teach Pendant Cable Ensure that the robot and teach pendant cable curvature radius is greater than the minimum curvature radius (120 mm). Doosan Robotics Installation Manual v1.7...
  • Page 123 D.2.3.5 Supplying Power to the Control Box Push the power cable into the corresponding control box connector until a click is heard to prevent the cable from becoming loose. Warning  After connecting the power cable, make sure that the robot has established a proper ground (electronic ground connection).

  • Page 124: Interface

    External devices can be connected to the control box through the control box I/O terminal after removing the I/O connection plate. D.3.2 Network Connection External Internet network, TCP/IP equipment, Modbus equipment and SVM can be connected to the network router in the control box after removing the network connection plate. Doosan Robotics Installation Manual v1.7...

This manual is also suitable for:

M0617M1013M1509

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