Doosan M0609 User Manual page 50

Protective Stop & Auto
Resume (H)
Dynamic Zone Enable (H)
• Safety Output Setting
Emergency Stop (L)
Safe Torque Off (L)
Safe Operating Stop (L)
Safe Stop Event (L)
Normal Speed (L)
Reduced Speed (L)
Auto Mode (L)
Doosan Robotics User Manual v1.7
This mode can be used in conjunction with safety
equipment, including safety mats.
 High: If the robot is set to Protective Stop by the safety
input signal, it automatically restarts the program without
restarting it with the Teach Pendent.
 Low: Runs SS2 (Safety Stop 2) Stop Mode if the program
is being executed
It is available when dynamically activating the temporary
disable collision section.
 High: If safety input is registered during temporary disable
collision section setting, it activates the temporary disable
collision section.
 Low: If safety input is registered during temporary disable
collision section setting, it deactivates the temporary
disable collision section.
It is used to notify the user of a situation where emergency
stop is required, such as when the Emergency Stop Button
is pressed, external Emergency Button is pressed, or self-
diagnosis defect is detected.
 High: Normal operation
Low: Emergency stop required
 High: Robot is not in STO state
 Low: Robot is in STO state
 High: Robot is not in SOS state
 Low: Robot is in SOS state
 High: Normal operation
 Low: Safety stop situation occurred
 High: Deceleration in operation
 Low: Robot is operating at the speed set by the task
program
 High: Robot operating at normal speed
 Low: The robot is located outside the collaborative
workspace or is operating at reduced speed due to
external deceleration mode signal input
 High: The robot is currently not in Auto Mode
 Low: The robot is currently in Auto Mode
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