Doosan M0609 User Manual page 49

•
Safe Torque Off (L)
Emergency Stop (L)
Protective Stop (L)
Reduced Speed (L)
3 Pos Enable Switch (H)
Handguiding Switch (H)
Playback Resume (H)
 High: Normal operation
 Low: Immediately cuts the motor power and engages the
brakes to force the robot to stop.
 High: Normal operation
 Low: It stops the robot according to the Stop Mode of
the Emergency Stop of the Safety Stop Mode.
 High: Normal operation
 Low: It stops the robot according to the Stop Mode of
the Protective Stop of the Safety Stop Mode.
 High: Operates the robot at the normal speed set in the
task
 Low: It operates the robot at a speed proportionately
reduced from the speed set in the task. The reduction
ratio can be adjusted using the Speed Reduction Ratio
slide bar. If a signal is detected within a collaborative
workspace, the robot is operated at the smaller speed
reduction ratio (slower) between the main speed reduction
ratio and the collaborative workspace speed reduction
ratio.
This is operation permission equipment that is used to
connect a three-point switch.
 High: Jog and servo ON available in Manual Mode
 Low: Jog, stop and servo ON unavailable in Manual Mode
It is an operation permission equipment which is used to
connect a hand guide switch.
 High: Hand guiding available
 Low: Hand guiding unavailable
It is used to resume the program after using manual guide,
including hand guiding, during Auto Mode.
 High: Resumes the Auto Mode program
 Low: Standby
49