Doosan M1013 Manuals

Manuals and User Guides for Doosan M1013. We have 9 Doosan M1013 manuals available for free PDF download: Programming Manual, User Manual, Reference Manual, Installation Manual

Doosan M1013 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

Doosan M1013 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

Doosan M1013 User Manual (190 pages)

Brand: Doosan | Category: Robotics | Size: 6 MB

Table of Contents
2
Preface

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
- 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
- End Effector Setting
  90
- 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
- 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

Doosan M1013 Installation Manual (190 pages)

Brand: Doosan | Category: Robotics | Size: 8 MB

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
4 Interface

59
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
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

Doosan M1013 Reference Manual (134 pages)

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

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

Doosan M1013 User Manual (140 pages)

Brand: Doosan | Category: Robotics | Size: 2 MB

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

Doosan M1013 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

Doosan M1013 Installation Manual (125 pages)

Brand: Doosan | Category: Robotics | Size: 6 MB

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

Doosan M1013 Installation Manual (113 pages)

Brand: Doosan | Category: Robotics | Size: 2 MB

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

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Table of Contents

Table of Contents

Table of Contents

Preface

Copyright

Open Source Software License Information (OSS)

Vision License Policy Information

1 Product Introduction

2 Safety

3 Starting up the Robot

4 Manual Robot Operation

5 System Operation Program Outline

6 Home Screen Overview

7 Workcell Manager

8 Task Builder

9 Task Writer

Table of Contents

Preface

Copyright

Open Source Software License Information (OSS)

1 Safety

2 Product Introduction

3 Installation

4 Interface

5 Robot Mode and State

6 Safety Functions

7 Transportation

8 Maintenance

9 Disposal and Environment

10 Product Warranty and Responsibility

11 Indemnification

Annex a System Specification

Manipulator

Controller

Teach Pendant

DART Platform Installation Requirement (Minimum, Recommended)

Table of Contents

Table of Contents

Table of Contents

Table of Contents

Table of Contents

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