Sign In
Upload
Manuals
Brands
Doosan Manuals
Robotics
M0609
Doosan M0609 Manuals
Manuals and User Guides for Doosan M0609. We have
7
Doosan M0609 manuals available for free PDF download: User Manual, Installation Manual, Reference Manual
Doosan M0609 User Manual (253 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 9.46 MB
Table of Contents
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
Advertisement
Doosan M0609 User Manual (190 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 6.88 MB
Table of Contents
Table of Contents
2
Preface
8
Copyright
8
Open Source Software License Information (OSS)
8
Vision License Policy Information
8
1 Product Introduction
9
Robot Overview
9
Names of each Part
9
Key Features
10
Control Box Overview
12
Teach Pendant Overview
14
Smart Pendant (A-Series)
15
Emergency Stop Button (A-Series)
16
System Configuration
17
2 Safety
19
Safety Indications of User Manual
19
Precautions for Use
20
Types of Stop Modes for Safety
22
Emergency Stop
23
Other Safety Functions
25
System Power Cut-Off
26
3 Starting up the Robot
27
System Power-Up
27
DIP Switch Setting (A-Series)
31
Booting and Disengaging Packing Position
32
System Booting
32
Disengaging Packaging Pose
33
Robot Mode and Status
35
Manual Mode
35
Auto Mode
35
Status and Flange LED Color for each Mode
36
Robot Safety Setting
38
Safety Limit Setting
38
Work Area Setting
38
4 Manual Robot Operation
39
Jog Operation
39
Hand-Guiding Operation
39
Teach Pendant Hand-Guiding Button
39
Cockpit Button (Five Buttons)
40
Cockpit Button (Six Buttons)
42
Robot Teaching and Execution
44
5 System Operation Program Outline
45
Status Display Area
46
Work Screen Area
46
Main Menu
47
6 Home Screen Overview
49
Task Execution and Stopping
51
Load Saved Tasks
52
Tool Setting
53
7 Workcell Manager
55
What Is a Workcell Item
55
Add Workcell Item
57
Deprecated Workcell Item
58
Robot Setting
60
World Coordinates Setting
62
7.4.2 Robot Limits Setting
64
7.4.3 Safety I/O Setting
68
7.4.4 Safety Stop Modes Setting
71
Robot Installation Pose Setting
72
Tool Shape Setting
73
Tool Weight Setting
74
User Coordinates Setting
76
Nudge Setting
78
Robot Operation Environment Types
79
Robot Work Space Setting
82
Collaborative Work Space Setting
83
Protection Section Setting
85
Disable Collision Detection Section Setting
86
Space Limit Setting
87
Collaborative Workspace Setting
87
Collision Prevention Section Setting
87
Collision Sensitivity Reduction Section Setting
88
Tool Direction Change Limit Section Setting
88
Custom Section
88
End Effector Setting
90
Grippers and Tools
90
End Effector I/O Signal Setting
92
End Effector I/O Testing
93
Tool Rotation Angle (A, B, C) Within Tool Center Point Setting
94
Tool Center Point Setting Based on Other End Effectors
96
Machine Tool Setting
98
Peripheral Setting
99
Others
101
Vision
101
8 Task Builder
102
Task Management
102
Create New Task
102
Template
102
Save Task
103
Save Task as
103
Editing Workcell Items
103
Save Task on External Storage Device
104
Load Saved Tasks
104
Delete Saved Tasks
104
Import Tasks on External Storage Devices
104
Task Builder Commands
106
Deprecated Skill Command
109
Edit Task
110
Edit Task Screen Configuration
111
Add Command
112
Delete Command
112
Paste Command
112
Setting and Applying Command Properties
114
Motion Command Property Setting
115
Waypoint Setting
115
Speed Setting
115
Operation Mode Setting
116
Blending Mode Setting
116
Multi-Segment (Waypoint) Setting
116
Skill Command Property Setting
118
Understanding Basic Principles of Skill Commands
118
Compliance Control and Contact Check
121
Skill Command Work Point Setting with Cockpit Buttons
122
Execute Task Program
123
Virtual Mode Screen
123
Real Mode Screen: End Effector Information Tab
124
Real Mode Screen: I/O Information Tab
127
Execute Task
129
9 Task Writer
130
Task Management
130
Create New Task
130
Save Task
130
Save Task as
130
Save Task on External Storage Device
131
Load Saved Tasks
131
Delete Saved Tasks
131
Import Tasks on External Storage Devices
131
Export Task to External Storage Device
132
Edit Task Program
134
Task Writer Command
135
Setting and Applying Command Properties
138
Execute Task Program
139
Debug Screen
140
10 Monitoring and Testing
141
Screen Layout
142
I/O Status Check
143
Control Box/Flange Digital Input Check
143
Control Box Analog Input Check
143
Control Box/Flange Digital Output Setting
143
Control Box Analog Output Setting
144
I/O Test
145
Modbus Test
146
Servo on
147
Zero-Gravity Motion Mode
148
Safety Recovery Mode
149
Using Software Recovery Mode
150
Packaging Mode Setting
151
11 Jog Function
152
Jog Screen
153
Execute Based on Joint
155
Execute Based on Robot Base
156
Execute Based on World Coordinates
157
Execute Based on Robot Tool
158
Movement Screen
159
Moving with Angle Setting
159
Move with Base Reference Coordinates
160
Move with World Coordinates Reference Coordinates
161
Move with Tool Reference Coordinates
161
Setting Screen
162
Alignment Based on Base Axis/World Axis
163
Go to Home
164
Alignment Based on Target
164
Alignment Based on Workcell Items
165
Doosan M0609 Installation Manual (190 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 8.88 MB
Table of Contents
Table of Contents
2
Preface
10
Copyright
10
Open Source Software License Information (OSS)
10
1 Safety
11
Manual Indication Conventions
11
Safety Symbols
12
General Instructions
13
Product Usage
15
Risk Assessment
16
Potential Risks
18
Validity and Responsibility
19
2 Product Introduction
20
Component Check
20
Names and Functions
21
Manipulator
21
Controller
23
Teach Pendant
24
System Configuration
25
Product Specifications, General
26
Robot Specifications
27
Basic Specification
27
Axis Specification
28
Robot Operating Space
29
Max. Payload Within Operating Space
41
Tool Center Point (TCP)
44
Nameplate and Label
45
3 Installation
46
Cautions During Installation
46
Installation Environment
47
Installation Location Check
47
Robot Work Area Check
48
Hardware Installation
49
Securing the Robot
49
Connecting the Robot and Tool
51
Connecting the Manipulator and Controller
52
Connecting the Controller and Teach Pendant
54
Routing of Manipulator Cable and Teach Pendant Cable
56
Supplying Power to the Controller
57
4 Interface
59
Flange I/O
59
Flange Digital Output Specifications
62
Flange Digital Input Specifications
63
Connecting Controller I/O
64
Setting the Terminal Block for Contact Input (TBSFT)
65
Setting the Terminal Block for Safety Contact Output (TBSTO)
66
Setting the Digital I/O Power Terminal (TBPWR)
67
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
68
Setting Analog I/O Terminal (TBAIO)
74
Setting Encoder Input Terminal (TBEN1, TBEN2)
76
Network Connection
78
Connecting External Devices - Vision Sensor
78
Connecting External Device - DART Platform
80
Modbustcp Slave Setup
81
Expanded Protocol - PROFINET IO Device (PNIO Device) Setup
82
Expanded Protocol - Ethernet/Ip Adapter (EIP Adapter) Setup
83
Using Expanded Protocol
84
Using General Purpose Register (GPR)
85
5 Robot Mode and State
86
Manual Mode
86
Automatic Mode
87
Other Mode
88
State and Flange LED Color for each Mode
89
6 Safety Functions
91
Introduction
91
Safety-Rated Stop Function
92
Emergency Stop Function
93
Protective Stop
94
Safety Rated Monitoring Function
95
Safety-Rated I/O
97
7 Transportation
98
Caution During Transportation
98
Pose for Robot Transportation
99
Package Specifications
100
8 Maintenance
101
9 Disposal and Environment
102
10 Product Warranty and Responsibility
103
Scope of Warranty
103
Restrictions and Exceptions of Warranty
104
Transfer
105
11 Indemnification
106
Annex a System Specification
107
Manipulator
107
M0609
107
M1509
108
M1013
109
M0617
110
H2017
111
H2515
112
Controller
113
AC Controller)
113
DC Controller)
114
CS-01P (AC Controller)
115
Teach Pendant
116
DART Platform Installation Requirement (Minimum, Recommended)
117
Annex B Declaration and Certification
118
Europe Declaration of Incorporation (Original)
118
Europe Machinery Directive Attestation of Conformity
119
Europe EMC Directive Attestation of Conformity
121
U.S. NRTL Certification (U.S., CANADA)
122
Functional Safety Certification
124
Voluntary Safety Confirmation Declaration (Kcs)
125
Annex C Stop Distance and Stop Time
131
Measurement Methods and Conditions
131
General Information
131
Stop Category
132
Measurement Poses and Conditions
133
M1013
135
Stop Category 1
135
Stop Category 0
138
M0609
139
Stop Category 1
139
Stop Category 0
142
M0617
143
Stop Category 1
143
Stop Category 0
146
M1509
147
Stop Category 1
147
Stop Category 0
150
H2017
151
Stop Category 1
151
Stop Category 0
154
H2515
155
Stop Category 1
155
Stop Category 0
158
Advertisement
Doosan M0609 Reference Manual (134 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 5.08 MB
Table of Contents
Table of Contents
3
Part 1 Workcell Item
10
Workcell Item Summary
11
Workcell Item Common Setting Options
11
End Effector
12
Gripper
12
Pneumatic Gripper
12
Vacuum Gripper
12
Electric Gripper
12
Screwdriver
12
Gluing Tool
13
Deburring Tool
13
Air Blow Nozzle
14
Polish
14
Machine
15
Press Machine
15
Turning Center
15
Injection Molding Machine
16
Peripherals
17
Pallet
17
Pallet (Stack)
17
Pallet (Rhombus)
18
Line Pattern
19
Shooting Bolt Feeder
19
Pick-Up Bold Feeder
19
Additional Workcell Items
20
Common Setting Options
20
Additional Workcell Item List
20
Schmalz - FXCB
20
Shumalz - Cobotpump
21
Shunk - MPG
21
Shunk - Co-Act
22
Zimmer - GEP2000
22
Zimmer - HCR03
23
Robotiq - 2F-85
24
Robotiq - 2F-140
26
Robotiq - Hand-E
27
Robotiq - 3-Finger
29
Sick - Safety Laser Scanner
30
Sick - Safety Light Curtain
31
Omron - MC3
31
Doosan - Lynx Series
32
Doosan - Puma Series
35
Onrobot RG2
37
Onrobot RG6
38
Zimmer_Hcr-03-DIO
40
Dynabrade Robotic Sanders
40
Part 2 Task Programming Commands and Templates
41
Skill Command
42
Skill Command Summary
42
Understanding Basic Principles of Skill Commands
42
Compliance Control and Contact Check
45
Common Setting Options for Skill Commands
46
Skill Command List
47
Air Blow
47
Bolt Shooting
48
Check
48
Close TC Chuck
48
Close TC Door
49
Close TC Manual Door
49
Deburr (Hole)
50
Deburr (Hole) Line
50
Deburr (Hole) Pallet
50
Destacking
51
Destacking Line
52
Destacking Pallet
52
End
53
Glue (Point)
53
Glue (Point) Line
53
Glue (Point) Pallet
54
Grasp
54
Insert
54
Machine Reset
56
Open TC Chuck
56
Open TC Door
56
Open TC Manual Door
56
Pick
56
Pick Injection Molding Machine
57
Pick Line
58
Pick Pallet
58
Pick Press Machine
59
Pick TC Chuck
59
Place
60
Place Line
60
Place Pallet
61
Place Press Machine
61
Place TC Chuck
62
Polish (Hole)
62
Polish (Hole) Line
62
Polish (Hole) Pallet
63
Push
64
Release
64
Robot Online
64
Run
65
Screw Pick Ready Check
65
Screwdrive
65
Screwdrive Line
66
Stacking
66
Stacking Line
67
Stacking Pallet
67
Start Deburr
68
Start Glue
68
Start Injection Molding Machine
69
Start Polish
70
Start Press Machine
70
Start TC
70
Steady Rest Clamp
70
Steady Rest Unclamp
71
Stop
71
Tailstock Forward
72
Tailstock Backward
72
Touch
72
Workpiece Clean
72
Task Template
73
Part Handling
73
Single Gripper
73
Double Gripper
73
CNC Machine Tending
73
Single Gripper
74
Double Gripper
74
Press Machine Tending
75
Single Gripper
75
Double Gripper
76
Injection Molding Machine Tending
76
Screw Drive
76
Gluing
78
Deburring
78
Polishing
78
Part 3 Smart Vision Module
79
Precautions before Use
80
Setting with Workcell Manager
81
Camera Connection
81
Vision Job > Manage Job
82
Create Vision Job
82
Edit and Delete Vision Job
83
Vision Job > Set Image
85
Save and Load Lighting/Exposure/Gain/Focus Setting
85
Camera Calibration
87
Vision Job > Edit Job
94
Doosan M0609 User Manual (140 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 2.58 MB
Table of Contents
Table of Contents
2
Preface
9
Copyright
9
Information about Open Source Software (OSS) Licensing
9
Product Introduction
10
Robot Overview
10
Name of Parts
10
Main Function
11
Control Box Overview
12
Teach pendant Overview
13
System Configuration
13
Safety
14
Safety Indications of User Manual
14
Precautions for Use
14
Types of Stop Modes for Safety
16
Emergency Stop
16
Other Safety Functions
17
System Power Cut-Off
17
Starting up the Robot
18
System Power-Up
18
Booting and Disengaging Packing Position
19
System Booting
19
Disengaging Packaging Pose
19
Robot Mode and Status
20
Manual Mode
20
Auto Mode
21
Status and Flange LED Color for each Mode
21
Robot Setting
22
Robot Safety Setting
22
Safety Limit Setting
22
Work Area Setting
22
Manual Robot Operation
24
Jog Operation
24
Hand-Guiding Operation
24
Teach pendant Hand-Guiding Button
24
Cockpit Button
24
Robot Teaching and Execution
26
System Operation Program Outline
28
Status Display Area
28
Work Screen Area
29
Main Menus
29
Home Screen Overview
31
Task Execution and Stopping
32
Opening and Running a Saved Task
33
Tool Setting
34
Workcell Manager
36
What Is a Workcell Item
36
Add Workcell Item
38
Deprecated Workcell Item
39
Robot Setting
40
World Coordinatessetting
42
Robot Limits Setting
45
Safety I/O Setting
48
Safety Stop Modes Setting
52
Setting the Robot's Installation Pose
53
Tool Shape Setting
54
Tool Weight Setting
54
Robot Operation Environment Types
56
Robot Work Space Setting
58
Collaborative Work Space Setting
58
Protection Section Setting
59
Disable Collision Detection Section Setting
60
Tool Direction Change Limit Section Setting
61
End Effector Setting
61
Grippers and Tools
61
End Effector I/O Signal Setting
64
Testing the I/O of an End Effactor
65
Tool Rotation Angle (A, B, C) Within Tool Center Point Setting
66
Tool Center Point Setting Based on Other End Effeactors
68
Machine Tool Setting
69
Peripheral Setting
70
Others
73
Vision
73
Task Builder
74
Task Management
74
Create New Task
74
Template
74
Save Task
75
Save Task as
75
Editing Workcell Items
75
Save Task on External Storage Device
76
Load Saved Task
76
Delete Saved Task
76
Import Task on External Storage Device
76
Task Builder Command
77
Deprecated Skill Command
79
Edit Task
80
Edit Task Screen Configuration
81
Add Command
82
Delete Command
82
Paste Command
82
Setting and Applying Command Property
83
Motion Command Property Setting
83
Waypoint Setting
83
Velocity Setting
84
Operation Mode Setting
84
Blending Mode Setting
84
Multi-Segment (Waypoint) Setting
86
Skill Command Property Setting
87
Understanding Basic Principles of Skill Commands
87
Compliance Control and Contact Check
90
Skill Command Work Point Setting with Cockpit Buttons
91
Execute Task Program
91
Virtual Mode Screen
92
Real Mode Screen: End Effactor Information Tab
93
Real Mode Screen: I/O Information Tab
94
Execute Task
97
Task Writer
98
Task Management
98
Create New Task
98
Save Task
98
Save Task as
98
Save Task on External Storage Device
99
Load Saved Task
99
Delete Saved Task
99
Import Task on External Storage Device
100
Export Task to External Storage Device
100
Edit Task Program
102
Task Writer Command
102
Setting and Applying Command Property
105
Execute Task Program
105
Debug Screen
105
Monitoring and Testing
107
Screen Layout
107
Check I/O Status
108
Setting up Input
108
Checking the Analog Input of the Control Box
108
Setting up the Digital Output of the Control Box/Flange
109
Setting the Analog Output of the Control Box
109
Servo on
109
Setting up the Back Drive Operation Mode
110
Safety Recovery Mode
111
Doosan M0609 Installation Manual (125 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 6.91 MB
Table of Contents
Table of Contents
2
Preface
9
Copyright
9
Open Source Software License Information (OSS)
9
Safety
10
Manual Indication Conventions
10
Safety Symbols
10
General Instructions
12
Product Usage
14
Risk Assessment
15
Potential Risks
16
Validity and Responsibility
17
Product Introduction
18
Component Check
18
Names and Functions
19
Robot
19
Control Box
21
Teach pendant
22
System Configuration
23
Product Specifications, General
24
Robot Specifications
24
Basic Specification
24
Axis Specification
25
Robot Operating Space
26
Max. Payload Within Operating Space
28
Tool Center Point (TCP)
29
Nameplate and Label
29
Installation
31
Cautions During Installation
31
Installation Environment
32
Installation Location Check
32
Robot Work Area Check
33
Hardware Installation
34
Securing the Robot
34
Connecting the Robot and Tool
35
Connecting the Robot and Control Box
37
Connecting the Control Box and Teach pendant
39
Routing of Robot Cable and Teach pendant Cable
41
Supplying Power to the Control Box
42
Interface
44
Flange I/O
44
Flange Digital Output Specifications
47
Flange Digital Input Specifications
48
Connecting Control Box I/O
49
Setting the Terminal Block for Contact Input (TBSFT)
50
Setting the Terminal Block for Safety Contact Output (TBSTO)
51
Setting the Digital I/O Power Terminal (TBPWR)
51
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
53
Setting Analog I/O Terminal (TBAIO)
59
Setting Encoder Input Terminal (TBEN1, TBEN2)
61
Network Connection
63
Connecting External Devices - Vision Sensor
63
Connecting External Device - DART Platform
64
Modbustcp Slave Setup
65
Expanded Protocol - PROFINET IO Device (PNIO Device) Setup
65
Expanded Protocol - Ethernet/Ip Adapter (EIP Adapter) Setup
65
Using Expanded Protocol
66
Using General Purpose Register (GPR)
66
Robot Mode and Status
67
Manual Mode
67
Auto Mode
67
Status and Flange LED Color for each Mode
68
Safety Functions
70
Introduction
70
Safety-Rated Stop Function
71
Emergency Stop Function
72
Protective Stop
72
Safety Rated Monitoring Function
73
Safety-Rated I/O
74
Transportation
75
Caution During Transportation
75
Pose for Robot Transportation
75
Package Specifications
76
Maintenance
77
Disposal and Environment
78
Product Warranty and Responsibility
79
Scope of Warranty
79
Restrictions and Exceptions of Warranty
79
Transfer
80
Product Certification
81
Third-Party Certification
81
Indemnification
82
Annex a System Specification
83
Robot
83
M0609
83
M1509
84
M1013
85
M0617
86
Control Box
87
AC Controller)
87
DC Controller)
87
Teach pendant
88
Annex B Declaration and Certification
89
CE/EU Declaration of Incorporation (Original)
89
Doosan M0609 Installation Manual (113 pages)
Brand:
Doosan
| Category:
Robotics
| Size: 2.52 MB
Table of Contents
Table of Contents
2
Preface
7
Copyright
7
Information about Open Source Software (OSS) Licensing
7
How to Read this Manual
8
Safety
9
Icons Used in this Manual
9
Safety Icons
9
General Precautions
11
Purpose of the Product
13
Risk Assessment
14
Potential Risks
16
Validity and Responsibilities
17
Exploring the Product
18
Components
18
Name of Parts and Their Functions
19
Robot
19
Control Box
21
Teach pendant
22
System Architecture
23
General Product Specifications
23
Robot Specifications
24
Basic Specifications
24
Axis-Specific Specifications
24
Operating Radius of the Robot
24
Max. Payload Within the Operating Radius
27
Tool Center Position
28
Labels
28
Installing the Robot
30
Installation Precautions
30
Installation Environment
30
Installation Locations
30
Checking the Robot's Operating Radius
32
Hardware Installation
35
Fixating the Robot
35
Connecting a Tool to the Robot
37
Connecting the Robot to the Control Box
39
Connecting the Control Box to the Teach pendant
42
Plugging the Robot into the Control Box
44
Interfaces
46
Flange I/O
46
Flange Digital Output Specifications
48
Flange Digital Input Specification
49
Control Box I/O Connections
51
Configuring the Safety Contact Input Terminal Block (TBSFT)
52
Configuring the Safety Contact Output Terminal Block (TBSTO)
53
Configuring the Digital I/O Power Terminal Block (TBPWR)
54
Configuring the Configurable Digital I/O Blocks (TBCI1-4 and TBCO1-4)
55
Configuring the Analog I/O Terminal Block (TBAIO)
62
Encoder Input Terminal (TBEN1, TBEN2) Configuration
64
Connecting to a Network
67
Connecting to an External Device - Vision Sensor
68
Modbustcp Slave Setup
68
Expanded Protocol - PROFINET IO Device (PNIO Device) Setup
69
Expanded Protocol - Ethernet/Ip Adapter (EIP Adapter) Setup
69
Using Expanded Protocol
69
Using General Purpose Register (GPR)
69
Robot Mode and Status
71
Manual Mode
71
Auto Mode
71
Status and Flange LED Color for each Mode
71
Safety-Related Features
74
Introduction
74
Safety-Rated Stop Function
74
Emergency Stop Feature
75
Protective Stop
76
Safety Rated Monitoring Function
76
Safety-Rated IO
77
Transporting the Robot
78
Precautions When Transporting the Robot
78
Pose for the Robot's Transportation
78
Packaging Box Specifications
78
Maintenance
80
Disposal and Environment
81
10. Product Warranty and Liability
82
Scope of Warranty
82
Warranty Limitations and Exceptions
82
Transfer
83
11. Product Certification
84
Advertisement
Related Products
Doosan M0617
Doosan M1013
Doosan M1509
Doosan MD Series
Doosan MX 2000
Doosan MX 2500
Doosan MX 3000
Doosan Ingersoll Rand MHP825WCU
Doosan A0509
Doosan A0509s
Doosan Categories
Air Compressor
Excavators
Engine
Forklifts
Compact Loader
More Doosan Manuals
Login
Sign In
OR
Sign in with Facebook
Sign in with Google
Upload manual
Upload from disk
Upload from URL