Doosan A0509s Manuals

Manuals and User Guides for Doosan A0509s. We have 5 Doosan A0509s manuals available for free PDF download: Programming Manual, User Manual, Reference Manual, Installation Manual, Quick Manual

Doosan A0509s Programming Manual (392 pages)

Brand: Doosan | Category: Robotics | Size: 5 MB

Table of Contents
2
Sin(X)
21
Cos(X)
21
Tan(X)
21
Asin(X)
21
Acos(X)
21
Atan2(Y, X)
22
Ceil(X)
22
Floor(X)
22
Pow(X, Y)
22
Sqrt(X)
22
Log(X, B)
22
D2R(X)
22
R2D(X)
22
Norm(X)
22
Random()
22
Get_Distance(Posx1, Posx2)
23
Get_Normal(X1, X2, X3)
23
Add_Pose(Posx1,Posx2)
23
Subtract_Pose(Posx1,Posx2)
23
Inverse_Pose(Posx1)
23
Dot_Pose(Posx1, Posx2)
23
Cross_Pose(Posx1, Posx2)
23
Unit_Pose(Posx1)
23
External Communication Commands
23
Serial_Open
23
Application Commands
28
Preface
30
Copyright
30
DRL Basic Syntax
31
Indent
31
Comment
32
Variable Name
33
Numeric Value
34
String
35
Indexing & Slicing
36
List
37
Tuple
38
Dictionary
38
Function
39
Scoping Rule
40
Parameter Mode
41
Pass
42
While
44
For
45
Break
45
Else in a Loop
46
Motion-Related Commands
47
Posj(Q1=0, Q2=0, Q3=0, Q4=0, Q5=0, Q6=0)
47
Posx(X=0, Y=0, Z=0, W=0, P=0, R=0)
48
Trans(Pos, Delta, Ref, Ref_Out)
49
Posb(Seg_Type, Posx1, Posx2=None, Radius=0)
51
Fkin(Pos, Ref)
52
Ikin(Pos, Sol_Space, Ref)
54
Addto(Pos, Add_Val=None)
56
Set_Velj(Vel)
57
Set_Accj(Acc)
58
Set_Velx(Vel1, Vel2)
59
Related Commands
59
Set_Velx(Vel)
60
Set_Accx(Acc1, Acc2)
61
Set_Accx(Acc)
62
Set_Tcp(Name)
63
Set_Ref_Coord(Coord)
64
Movej
66
Movel
69
Movejx
72
Movec
75
Movesj
79
Movesx
82
Moveb
86
Move_Spiral
90
Move_Periodic
93
Move_Home
96
Amovej
98
Amovel
101
Amovejx
104
Amovec
107
Amovesj
110
Amovesx
113
Amoveb
116
Amove_Spiral
119
Amove_Periodic
122
Mwait(Time=0)
125
Begin_Blend(Radius=0)
127
End_Blend()
129
Check_Motion()
130
Stop(St_Mode)
131
Change_Operation_Speed(Speed)
133
Wait_Manual_Guide()
135
Wait_Nudge()
137
Enable_Alter_Motion(N,Mode,Ref,Limit_Dpos,Limit_Dpos_Per)
139
Alter_Motion([X,Y,Z,Rx,Ry,Rz])
142
Disable_Alter_Motion()
144
Auxiliary Control Commands
146
Get_Control_Mode()
146
Get_Control_Space()
147
Get_Current_Posj()
148
Get_Current_Velj()
149
Get_Desired_Posj()
150
Get_Desired_Velj()
151
Get_Current_Posx(Ref)
152
Get_Current_Tool_Flange_Posx(Ref)
154
Get_Current_Velx(Ref)
155
Get_Desired_Posx(Ref)
156
Get_Desired_Velx(Ref)
157
Get_Current_Solution_Space()
158
Related Commands
159
Get_Current_Rotm(Ref)
159
Get_Joint_Torque()
160
Get_External_Torque()
161
Get_Tool_Force(Ref)
162
Get_Solution_Space(Pos)
163
Get_Orientation_Error(XD, XC, Axis)
164
Other Settings and Safety-Related Commands
165
Get_Workpiece_Weight()
165
Reset_Workpiece_Weight()
166
Set_Tool(Name)
167
Set_Tool_Shape(Name)
168
Set_Singularity_Handling(Mode)
169
Force/Stiffness Control and Other User-Friendly Features
171
Parallel_Axis(X1, X2, X3, Axis, Ref)
171
Parallel_Axis(Vect, Axis, Ref)
173
Align_Axis(X1, X2, X3, Pos, Axis, Ref)
175
Align_Axis(Vect, Pos, Axis, Ref)
177
Is_Done_Bolt_Tightening(M=0, Timeout=0, Axis=None)
178
Release_Compliance_Ctrl()
180
Task_Compliance_Ctrl(Stx, Time)
181
Set_Stiffnessx(Stx, Time)
183
Calc_Coord(X1, X2, X3, X4, Ref, Mod)
184
Set_User_Cart_Coord(Pos, Ref)
186
Set_User_Cart_Coord(X1, X2, X3, Pos, Ref)
188
Set_User_Cart_Coord(U1, V1, Pos, Ref)
190
Overwrite_User_Cart_Coord(ID, Pos, Ref)
192
Get_User_Cart_Coord(ID)
193
Set_Desired_Force(Fd, Dir, Time, Mod)
194
Release_Force(Time=0)
196
Check_Position_Condition(Axis, Min, Max, Ref, Mod, Pos)
197
System Commands
207
Mathematical Function
249
Conveyor Tracking
373
Related Commands
377

Doosan A0509s User Manual (253 pages)

Brand: Doosan | Category: Robotics | Size: 9 MB

Table of Contents
2
Preface
10
Copyright
10
Open Source Software License Information (OSS)
10
Vision License Policy Information
10
Product Introduction
11
Robot Overview
11
Names of each Part
11
Key Features
12
Controller Overview
14
Teach Pendant Overview
16
Smart Pendant (A-Series)
17
Emergency Stop Button (A-Series)
18
System Configuration
19
Safety
21
Safety Indications of User Manual
21
Precautions for Use
22
Types of Stop Modes for Safety
24
Emergency Stop
25
Other Safety Measures
27
System Power Cut-Off
28
Starting up the Robot
29
System Power-Up
29
Emergency Stop Button Setting Switch (A-Series)
33
Booting and Disengaging Packing Position
34
System Booting
34
Disengaging Packaging Pose
35
Robot Mode and State
37
Manual Mode
37
Automatic Mode
38
Other Mode
39
Status and Flange LED Color for each Mode
40
Functional Limits of each Robot Series
43
Robot Safety Setting
46
Safety Limit Setting
47
Space Limit and Zone Setting
48
Application Recovery Mode Screen
49
Using Application Recovery Mode Functions
49
Series Compatibility Error Screen
51
Series Compatibility Error Screen Functions
51
Robot Series Swap
52
Manual Robot Operation
54
Jog Operation
54
Hand-Guiding Operation
55
Teach Pendant Hand-Guiding Button
55
Cockpit Button (Five Buttons)
56
Cockpit Button (Six Buttons)
58
Clamping Escape by Cockpit
61
Robot Teaching and Execution
62
System Operation Program Outline
63
Status Display Area
64
Work Screen Area
64
Main Menu
65
Home Screen Overview
66
Task Execution and Stopping
68
Load Saved Tasks
69
Tool Setting
70
Workcell Manager
72
What Is a Workcell Item
72
Add Workcell Item
74
Deprecated Workcell Item
75
Unavailable Workcell Items
77
Robot Setting
78
World Coordinates Setting
80
7.5.2 Robot Limits Setting
83
7.5.3 Safety I/O Setting
86
7.5.4 Normal I/O Setting
90
7.5.5 Safety Stop Modes Setting
92
Robot Installation Pose Setting
93
Tool Shape Setting
95
Tool Weight Setting
96
User Coordinates Setting
98
Nudge Setting
99
Space Limit and Zone Settings Overview
100
Space Limit Settings
103
Collaborative Zone Settings
104
Crushing Prevention Zone Settings
105
Collision Sensitivity Reduction Zone Settings
106
Tool Orientation Limit Zone Settings
107
Custom Zone Settings
108
End Effector Setting
110
Grippers and Tools
110
End Effector I/O Signal Setting
112
End Effector I/O Testing
113
Tool Center Point (TCP) Setting
114
Tool Center Point Setting Based on Other End Effectors
116
Machine Tool Setting
118
Peripheral Setting
119
Others
120
Vision
121
Task Builder
122
Task Management
122
Create New Task
122
Template
123
Save Task
124
Save Task as
125
Editing Workcell Items
126
Save Task on External Storage Device
127
Load Saved Tasks
128
Delete Saved Tasks
129
Import Tasks on External Storage Devices
130
Task Builder Commands
131
Deprecated Skill Command
134
Edit Task
135
Edit Task Screen Configuration
135
Add Command
137
Delete Command
138
Paste Command
139
Setting and Applying Command Properties
140
Motion Command Property Setting
141
Waypoint Setting
141
Speed Setting
142
Program Link Mode Setting
143
Blending Mode Setting
144
Multi-Segment (Waypoint) Setting
145
Skill Command Property Setting
146
Understanding Basic Principles of Skill Commands
146
Compliance Control and Contact Check
149
Skill Command Work Point Setting with Cockpit Buttons
151
Execute Task Program
152
Virtual Mode Screen
152
Real Mode Screen: End Effector Information Tab
154
Real Mode Screen: I/O Information Tab
156
Execute Task
158
Task Writer
159
Task Management
159
Create New Task
159
Save Task
160
Save Task as
161
Save Task on External Storage Device
162
Load Saved Tasks
163
Delete Saved Tasks
164
Import Tasks on External Storage Devices
165
Export Task to External Storage Device
166
Edit Task Program
167
Task Writer Command
168
Setting and Applying Command Properties
171
Execute Task Program
172
Debug Screen
173
10. Monitoring and Testing
174
Screen Layout
174
I/O Status Check
176
Controller/Flange Digital Input Check
176
Controller Analog Input Check
177
Controller/Flange Digital Output Setting
178
Controller Analog Output Setting
179
I/O Test
180
Modbus Test
181
Servo on
182
Backdrive Mode
183
Safety Recovery Mode
184
Using Software Recovery Mode
185
Packaging Mode Setting
186
11. Jog Function
187
Jog Screen
188
Execute Based on Joint
190
Execute Based on Robot Base
191
Execute Based on World Coordinates
192
Execute Based on Robot Tool
193
Movement Screen
194
Moving with Angle Setting
195
Move with Base Reference Coordinates
196
Move with World Coordinates Reference Coordinates
197
Move with Tool Reference Coordinates
198
Align Screen
199
Alignment Based on Base Axis/World Axis
200
Go to Home
201
Alignment Based on Target
202
Alignment Based on Workcell Items
204
Jog Plus (Jog+)
205
12. Environment Setting
208
Language Setting
208
Date and Time Setting
209
Robot Setting
210
Robot Home Position Setting
210
Cockpit Setting
211
Remote Control Setting
212
Smart Pendant Setting
215
Change and Disable Password
218
User Role Setting
219
Network Setting
220
User-Defined Modbus Support Function Code
220
Register User-Defined Modbus
221
Register Preset Modbus
222
System Update
223
Unified Update
223
System Restore
225
Check and Enter Robot License Code
227
Check Log
228
Checking Log Messages
228
Checking Real-Time Log Messages During Program Execution
228
Extract Log
228
Factory Reset
229
Delete Log
229
License Type and Factory Reset Range According to Vision Connection
230
Screen Saver Mode Setting
231
12.12 Idle Servo off
232
12.13 Friction Calibration
233
12.14 KT Smart Factory Setting Screen
234
12.15 Backup & Restore
235
12.16 Workcell & Skill Installation and Removal
238
Smart Pendant (a Series)
239
Functions of Smart Pendant
239
Smart Pendant Robot LED Color
241
Annex A. Upper/Lower Threshold Range and Default Value of Safety Parameters
242
A.1 M1509
242
A.2 M1013
243
A.3 M0617
244
A.4 M0609
245
A.7 H2515
248
A.8 H2017
249
Appendix B. Welding Work Overview
250
Ethernet/Ip Interface Welding Machine Connection Example
250
Flow of Welding Work Utilizing Doosan Robots
250

Doosan A0509s Reference Manual (202 pages)

Brand: Doosan | Category: Robotics | Size: 11 MB

Table of Contents
2
Preface
5
Copyright
5
Open Source Software License Information (OSS)
5
Workcell Item
6
Workcell Item Summary
6
Workcell Item Common Setting Options
6
End Effector
6
Gripper
6
Tool
8
Screwdriver (Screwdriver: Tool Category)
8
Machine
9
Press Machine
9
Turning Center
10
Molding Machine
12
Peripherals
13
Pallet
13
Bolt Feeder
14
Additional Workcell Items
15
Common Setting Options
15
Additional Workcell Item List
17
Task Programming Commands and Templates
37
Skill Command
37
Skill Command Summary
37
Understanding Basic Principles of Skill Commands
37
Compliance Control and Contact Check
42
Common Skill Screen Layout
44
Skill Command List
46
Task Template
91
Part Handling
91
CNC Machine Tending
92
Press Machine Tending
94
Injection Molding Machine Tending
95
Screw Drive Template
95
Gluing Template
95
Deburring Template
96
Polishing Template
96
Insert Template
96
Smart Video Module
97
Precautions before Use (SVM)
97
Setting with Workcell Manager
97
Testing the Camera Connection
98
Vision Job > Manage Job
101
Vision Job > Set Image
103
Vision Job > Edit Job
114
Vision Job > Test
134
Programming
135
Vision Command Setting Options
136
Task Builder: Using Vision in Skill Commands
137
Task Writer: Using Vision in Motion Commands
139
Vision Skill: Installing the Vision Skill
140
Vision Skill: Using the Shoot Pose Skill
147
Vision Skill: Using the Landmark Skill
159
Vision Skill: Using the Barcode Skill
168
Vision Skill: Utilizing if Statements
177
Product Specifications
180
Measurement Distance
180
Size and Height of Measuring Items
180
Measuring Item and Background
181
Conveyor Tracking
182
Precautions before Use
182
Settings with Workcell Manager (WCI)
182
External Encoder Settings
183
Conveyor Tracker Settings
186
Programming (TB/TW)
193
Conveyor Coordinates
195
Conveyor Tracking
197
Other Items to Note
199
Pick & Place (One Conveyor)
200
Pick & Place (Two Conveyors)
200
Multiple Workpiece Handling
201

Doosan A0509s Installation Manual (137 pages)

Brand: Doosan | Category: Robotics | Size: 5 MB

Table of Contents
2
Preface
7
Copyright
7
Open Source Software License Information (OSS)
7
Safety
8
Manual Indication Conventions
8
Safety Symbols
9
General Instructions
10
Product Usage
12
Risk Assessment
13
Potential Risks
15
Validity and Responsibility
16
Product Introduction
17
Component Check
17
Names and Functions
19
Manipulator
19
Controller
21
Teach pendant
22
Smart pendant
23
Emergency Stop Button
24
System Configuration
25
Product Specifications, General
26
Robot Specifications
27
Basic Specifications
27
Axis Specifications
28
Robot Operating Space
29
Max. Payload Within Operating Space
37
Tool Center Point (TCP)
39
Nameplates and Labels
40
Installation
41
Cautions During Installation
41
Installation Environment
42
Installation Location Check
42
Robot Work Area Check
43
Hardware Installation
44
Securing the Robot
44
Connecting the Robot and Tool
46
Connecting the Manipulator and Controller
47
Connecting the Controller and Emergency Stop Button
49
Connecting the Controller, and Smart pendant
50
Connecting the Controller and Teach pendant
52
Routing of Cables
54
Supplying Power to the Controller
55
System Power-Up
56
Emergency Stop Button Setting Switch
59
Interface
60
Flange I/O
60
Flange Digital Output Specifications
63
Flange Digital Input Specifications
64
Controller I/O Connection
65
Setting the Terminal Block for Contact Input (TBSFT)
66
Setting the Digital I/O Power Terminal (TBPWR)
68
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
69
Setting Analog I/O Terminal (TBAIO)
75
Setting Encoder Input Terminal (TBEN1, TBEN2)
77
Network Connection
79
Connecting External Devices - Vision Sensor
79
Connecting External Device - DART Platform
81
Modbustcp Slave Setup
82
Expanded Protocol - PROFINET IO Device (PNIO Device) Setup
83
Expanded Protocol - Ethernet/Ip Adapter (EIP Adapter) Setup
84
Using Expanded Protocol
85
Using General Purpose Register (GPR)
86
Robot Mode and State
87
Manual Mode
87
Automatic Mode
88
Other Mode
89
State and Flange LED Color for each Mode
90
Safety Functions
92
Introduction
92
Safety-Rated Stop Function
93
Emergency Stop Function
94
Protective Stop
95
Safety-Rated Monitoring Function
96
Safety-Rated I/O
98
Transportation
99
Cautions During Transportation
99
Pose for Robot Transportation
100
Package Specifications
101
Maintenance
102
Disposal and Environment
103
Product Warranty and Responsibility
104
Scope of Warranty
104
Restrictions and Exceptions of Warranty
105
Transfer
106
Indemnification
107
Annex a System Specifications
108
Manipulator
108
A0509(S)
108
A0912(S)
109
Controller
110
AC Controller)
110
Emergency Stop Button
111
Smart pendant (Option)
112
Teach pendant (Option)
113
FTS (A0509S, A0912S Only)
114
DART Platform Installation Requirement (Minimum, Recommended)
115
Annex B Declaration and Certification
116
Europe Declaration of Incorporation (Original)
116
Europe Machinery Directive Attestation of Conformity
117
Europe EMC Directive Attestation of Conformity
118
U.S. NRTL Certification (U.S., CANADA)
119
Voluntary Safety Confirmation Declaration (Kcs)
121
Annex C Stop Distance and Stop Time
125
Measurement Methods and Conditions
125
General Information
125
Stop Category
126
Pose and Condition for Measurements
127
A0509(S)
129
Stop Category 1
129
Stop Category 0
132
A0912(S)
133
Stop Category 1
133

Doosan A0509s Quick Manual (9 pages)

Brand: Doosan | Category: Robotics | Size: 0 MB

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