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Doosan A0509, User Manual

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Doosan  Robotics  User  Manual  v2.6.1

 

110 

7.6 

End Effector Setting 

The end effector is a device that acts directly on the target using the tool attached to its tool flange to 
execute the task the user has configured for the robot, and it has grippers (double-/single-action 
pneumatic grippers) and tools (tools and screwdrivers). In addition, user-built tools and screens can be 
added as Workcell Items. Doosan Robotics provide a web-based App Builder development eco system 
for Workcell Item app development. Manuals and web services for App Builder can be found at the 
Developer LAB. 

 

[Developer LAB] 

https://devlab.doosanrobotics.com

 

7.6.1 

Grippers and Tools 

Grippers are end effectors that have fingers to pick up or drop objects. The following is the setting 
screen for a pneumatic gripper. This example will be used as the basis for explaining how to configure 
an end effector. For more information about each gripper setting, refer to the separate manuals 
provided. 

 

No. 

Item 

Description 

1

 

Workcell Name 

Input Field 

Enter the name of the end effector.   

2

 

Communication 

Sets the I/O signal of the end effector. 

3

 

Tool Center Point 

Sets the tool center point (TCP) of the end effector. 

4 

Output Signal 

Checks and sets the output signal. (If a function is enabled in 

Workcell Item Action, its name and signal type are disabled.)   

 

Name

: Displays the output signal name. 

5

 

 

4

 

 

3

 

 

2

 

 

1

 

 

6

 

 

7

 

 

Summary of Contents for A0509

Page 1: ......

Page 2: ...nt A Series 17 1 5 Emergency Stop Button A Series 18 1 6 System Configuration 19 2 Safety 21 2 1 Safety Indications of User Manual 21 2 2 Precautions for Use 22 2 3 Types of Stop Modes for Safety 24 2 4 Emergency Stop 25 2 5 Other Safety Measures 27 2 6 System Power Cut Off 28 3 Starting Up the Robot 29 3 1 System Power Up 29 3 2 Emergency Stop Button Setting Switch A Series 33 3 3 Booting and Dis...

Page 3: ... Series Compatibility Error Screen 51 3 8 1 SeriesCompatibilityErrorScreenFunctions 51 3 8 2 RobotSeriesSwap 52 4 Manual Robot Operation 54 4 1 Jog Operation 54 4 2 Hand Guiding Operation 55 4 2 1 TeachPendantHand GuidingButton 55 4 2 2 CockpitButton fivebuttons 56 4 2 3 CockpitButton sixbuttons 58 4 2 4 ClampingEscapebyCockpit 61 4 3 Robot Teaching and Execution 62 5 System Operation Program Outl...

Page 4: ...Setting 93 7 5 7 ToolShapeSetting 95 7 5 8 ToolWeightSetting 96 7 5 9 UserCoordinatesSetting 98 7 5 10 NudgeSetting 99 7 5 11 SpaceLimitandZoneSettingsOverview 100 7 5 12 SpaceLimitSettings 103 7 5 13 CollaborativeZoneSettings 104 7 5 14 CrushingPreventionZoneSettings 105 7 5 15 CollisionSensitivityReductionZoneSettings 106 7 5 16 ToolOrientationLimitZoneSettings 107 7 5 17 CustomZoneSettings 108 ...

Page 5: ...eSavedTasks 129 8 1 9 ImportTasksonExternalStorageDevices 130 8 2 Task Builder Commands 131 8 3 Deprecated Skill Command 134 8 4 Edit Task 135 8 4 1 EditTaskScreenConfiguration 135 8 4 2 AddCommand 137 8 4 3 DeleteCommand 138 8 4 4 Pastecommand 139 8 5 Setting and Applying Command Properties 140 8 6 Motion Command Property Setting 141 8 6 1 WaypointSetting 141 8 6 2 SpeedSetting 142 8 6 3 ProgramL...

Page 6: ...9 9 1 2 SaveTask 160 9 1 3 SaveTaskAs 161 9 1 4 SaveTaskonExternalStorageDevice 162 9 1 5 LoadSavedTasks 163 9 1 6 DeleteSavedTasks 164 9 1 7 ImportTasksonExternalStorageDevices 165 9 1 8 ExportTasktoExternalStorageDevice 166 9 2 Edit Task Program 167 9 3 Task Writer Command 168 9 4 Setting and Applying Command Properties 171 9 5 Execute Task Program 172 9 6 Debug Screen 173 10 Monitoring and Test...

Page 7: ...edonRobotTool 193 11 2 Movement Screen 194 11 2 1 MovingwithAngleSetting 195 11 2 2 MovewithBaseReferenceCoordinates 196 11 2 3 MovewithWorldCoordinatesReferenceCoordinates 197 11 2 4 MovewithToolReferenceCoordinates 198 11 3 Align Screen 199 11 3 1 AlignmentbasedonBaseAxis WorldAxis 200 11 3 2 GotoHome 201 11 3 3 AlignmentbasedonTarget 202 11 3 4 AlignmentbasedonWorkcellItems 204 11 4 Jog Plus Jo...

Page 8: ...12 8 Check and Enter Robot License Code 227 12 9 Check Log 228 12 9 1 CheckingLogMessages 228 12 9 2 CheckingReal timeLogMessagesDuringProgramExecution 228 12 9 3 ExtractLog 228 12 10 Factory Reset 229 12 10 1 DeleteLog 229 12 10 2 LicenseTypeandFactoryResetRangeaccordingtoVisionConnection 230 12 11 Screen Saver Mode Setting 231 12 12 Idle Servo Off 232 12 13 Friction Calibration 233 12 14 KT Smar...

Page 9: ... 242 A 1 M1509 242 A 2 M1013 243 A 3 M0617 244 A 4 M0609 245 A 5 A0509 A0509S 246 A 6 A0912 A0912S 247 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 ...

Page 10: ...eserved Open Source Software License Information OSS The software installed in this product was developed based on free open source software Details about the free open source software license can be found on the OSS use page on the Doosan Robotics website www doosanrobotics com kr oss license For related inquires contact the Marketing Department of Doosan Robotics marketing robotics doosan com Vi...

Page 11: ...1 Product Introduction 1 1 Robot Overview 1 1 1 Names of Each Part No Name No Name 1 Base 6 J4 2 J1 7 Link2 3 J2 8 J5 4 Link1 9 J6 5 J3 10 Tool Flange 10 2 9 8 1 4 6 5 7 3 ...

Page 12: ...Flange Area to install tools 3 Flange LED Displays the robot status with different colors For more information about robot status refer to the 3 4 4 Status and Flange LED Color for Each Mode 4 Flange I O I O port for tool control Digital input 3ch output 3ch 5 Connector Used for supplying power to and communication of the robot 1 2 4 3 5 ...

Page 13: ... tools 3 Flange I O I O port for tool control Digital input 2ch output 2ch 4 LED 1 axis Displays the robot status with different colors For more information about robot status refer to the 3 4 4 Status and Flange LED Color for Each Mode 5 Connector Used for supplying power to and communication of the robot ...

Page 14: ... or peripherals 2 Teach pendant cable connection terminal Used to connect the teach pendant cable to the controller 3 Power switch Used to turn ON OFF the main power of the controller 4 Robot cable connection terminal Used to connect the robot cable to the controller 5 Power connection terminal Used to connect the controller power supply 2 1 4 3 5 ...

Page 15: ...nd smart pendant connection terminal Connects the emergency stop button or smart pendant cable to the controller 4 Teach pendant cable connection terminal Used to connect the teach pendant cable to the controller 5 Robot cable connection terminal Used to connect the robot cable to the controller 6 Power connection terminal Used to connect the controller power supply 7 Main power switch Used to tur...

Page 16: ...formation refer to 3 1 System Power Up 2 Power LED Turns ON when power is supplied 3 Emergency stop button In case of an emergency press the button to stop robot operation 4 Hand Guiding button Press and hold the button to move the robot freely into a desired pose The teach pendant is not a standard item but an optional item so it must be purchased separately 3 1 2 4 ...

Page 17: ...ress status 4 Buttons There are a total of 11 buttons including four input signal buttons F1 F4 for each function home servo auto play stop resume and pause 5 Emergency Stop Button In case of an emergency press the button to stop robot operation 6 Power Button Used to turn ON OFF the main power of the smart pendant 7 Strap Anchor Used to add a strap to the device 8 Holder bracket Install the holde...

Page 18: ...Doosan Robotics User Manual v2 6 1 18 1 5 Emergency Stop Button A Series No Item Description 1 Emergency Stop Button In case of an emergency press the button to stop robot operation ...

Page 19: ...at manages the overall system and it is capable of teaching the robot specific poses and setting robot and controller related settings Controller It controls the robot s movement according to the pose or movement set by the teach pendant It features various I O ports that allow the connection and use of various equipment and devices Robot It is an industrial collaborative robot that can perform tr...

Page 20: ...hased separately as an option Controller It controls the robot s movement according to the pose or movement set by the teach pendant It features various I O ports that allow the connection and use of various equipment and devices Smart Pendant The robot can be easily controlled using a pendant capable of performing simple functions such as turning on the servo ON OFF or executing closing preset pr...

Page 21: ...n serious accidents that could result in death or serious injury to the operator Warning Failure to observe instructions with this symbol may result in accidents that cause severe injury to the operator Caution Failure to observe instructions with this symbol may result in product damage or cause injury to the operator ...

Page 22: ...d Safety related parameters must be determined through the comprehensive risk assessment and safety parameter settings and the operation of safety functions must be verified before operating the robot Hand guiding must only be used if risk assessment approves its use If an error occurs on the controller or the teach pendant activate the emergency stop function identify the cause of the error find ...

Page 23: ...e the robot to strong magnetic fields This may damage the robot or cause malfunctions If the power plug is disconnected or the power is shut off during robot and controller operation robot and controller failure can occur For information about additional modules refer to corresponding manuals ...

Page 24: ...nd setting the Servo On For more information about servo on methods refer to 10 5 Servo On Safe Operating Stop SOS The current position is maintained with power supplied to the motor and the brake disengaged Servo ON STO is set if abnormal position change is detected SS2 Safe Stop 2 All joints are stopped with maximum deceleration by a Stop Mode corresponding to Stop Category 2 and Safe Operating ...

Page 25: ...cy Stop In emergency situations press the Emergency Stop button on the top right of the teach pendant to immediately stop the system Twist the Emergency Stop button clockwise to disengage the emergency stop condition ...

Page 26: ...Emergency stop must not be used as a safeguard but as a complementary protection measure If additional Emergency Stop buttons are needed an application risk assessment must be performed The Emergency Stop button must comply with IEC 60947 5 5 If an emergency stop occurred through the port set at Safety I O the button capable of accessing the screen for Safety Input setting at the bottom of the eme...

Page 27: ...re the position and angle of the robot For more information about Safety Recovery Mode refer to 10 7 Safety Recovery Mode Backdrive Mode The system controls the robot joint with only the brake and without power driving the motor This function is used when the robot cannot return to normal with Safety Recovery mode or Hand guiding With Backdrive mode the user can engage or disengage the brake of ea...

Page 28: ...2 6 System Power Cut Off A power switch is installed on the bottom of the controller to cut off system power Before cleaning or servicing the robot or controller or before disassembling the system cut off system power using the power switch ...

Page 29: ...tem is powered on the LED indicator for the robot lights up Press the shutdown button on the teach pendant or press and hold the power button on the upper left of the teach pendant for 2 seconds 1 The shutdown popup is displayed on the screen 2 Press the OK button on the shutdown popup to properly shutdown the system Note If the system does not power up check the power switch at the bottom of the ...

Page 30: ...ailure Press the power button at the bottom of the controller The power for systems such as the robot controller teach pendant and smart pendant is turned on PC Power ON OFF only when E STOP Box is used Standard Item Open the controller door and press and hold the power button located below the bottom right of the Safety board To turn off the power press and hold the button ...

Page 31: ...s used Optional Item Press the Power button located on bottom right of the Teach Pendant screen Press and hold the power button located on the top left of the teach pendant To turn off the power press and hold the button again ON OFF Switch ...

Page 32: ...art pendant To turn off the power press and hold the button again Note If the system does not power up check the power switch at the bottom of the controller Caution When turning off the system follow the proper shutdown procedure described in the User Manual Pulling out the power plug or executing a forced shutdown may cause robot and controller failure ...

Page 33: ...to below Configure the setting according to the components as follows Upon first receiving the setting is configured as Case 1 Case 1 1 Teach Pendant O Smart Pendant O 2 Teach Pendant O Emergency Stop Button O 3 Use of all Case 2 1 Smart Pendant O Teach Pendant X 2 Emergency Stop Button O Teach Pendant X Case 3 Teach Pendant O Smart Pendant X Emergency Stop Button X Warning If the setting of the e...

Page 34: ...he robot is on standby For more information about servo on refer to 10 5 Servo On Date and Time Setting The date and time displayed on the teach pendant and the log message saved on the robot follow the date and time setting of the system so the date and time must be configured at initial boot up For information regarding how to configure the date and time refer to 12 2 Date and Time Setting Using...

Page 35: ...ton The Safety Recovery button is enabled when Safety Off is set 3 Select the Packaging Mode tab 4 Tap the Servo On button 5 The robot status display on the top right of the Teach Pendant screen shifts from Safety Off to Recovery Standby Tap the Packaging Mode toggle button on the Packaging Mode tab 6 Tap the Disengage Packaging Pose button The robot s packaging mode is disengaged and the robot mo...

Page 36: ...sition tap the button on the top left of the screen 8 The robot status display on the bottom right of the screen changes from Recovery to Standby The robot is now in a state where the user can operate it Press the Close button on the Status screen to close the status window ...

Page 37: ...andguiding the TCP speed and joint speed are limited to less than the thresholds of Reduced status set in WCM Robot Robot Limits If risk assessment results indicate that a 3 position Enable Switch is necessary the 3 position Enable Switch can be connected through the I O by the setting in the WCM Robot Safety I O In this case the Enable Switch must be placed in the center enable position to to all...

Page 38: ...sk Writer can verify the programed task in virtual mode execute it in actual operation and perform robot tool weight and auto weight center measurement functions If risk assessment results indicate that a 3 position Enable Switch is necessary the 3 position Enable Switch can be connected through the I O by the setting in the WCM Robot Safety I O In this case the Enable Switch must be placed in the...

Page 39: ...l modes such as manual mode and automatic mode this is exceptional mode This mode includes special states such as controller booting initializing and states related to Backdrive at which you can push robot by hand without drive power ...

Page 40: ...ding the safety threshold etc It monitors the stop status with Safe Operating Stop SOS A yellow Protective stop pop up will appear After removing the cause of the protective stop if you press the Reset button the robot state will be converted to Manual Standby state and the pop up will disappear If it is not possible to release the safety limit exceeding without moving the robot press the Recovery...

Page 41: ...the end effector are measured automatically Please note that the safety monitoring functions of the robot are disabled during auto measuring Yellow Blinking Interrupted The system is in a protective stop state due to protective stop input exceeding the safety threshold etc It monitors the stop status with Safe Operating Stop SOS A yellow Protective stop pop up will appear After removing the cause ...

Page 42: ...joints are engaged and Backdrive motion is locked Yellow Blinking Backdrive Release Break of one or more joint s is released due to the selection of brake release The brake s will not lock by itself Use caution as the robot and or end effector may fall unless all brakes are engaged again Yellow Blinking Backdrive Servo Off The servo is off due to emergency stop or exceeded joint speed threshold du...

Page 43: ...ies JTS based H Series JTS based Direct Teaching Free Motion O O Current based O O Direct Teaching Restrained Motion X O FTS based O O Collision Detection O O Current based O O Installation Pose Measurement X O FTS based O X the robot can only be installed on the floor Tool Weight Measurement X O FTS based O O Workpiece Weight Measurement X O FTS based O O Nudge Function X X O O Force Control O se...

Page 44: ...luding rotation O FTS based O O O If the palletizing mode is set to ON Compliance control output limited Base Rx Ry orientation 1 Force monitoring Teach Pendant X O FTS based O Force value of 0 shown for the singularity section O Force value of 0 shown for the singularity section O If the palletizing mode is set to ON 4 Degree of Freedom provided for the base x y z Rz Force monitoring DART Studio ...

Page 45: ...se Rx Ry orientation The force or compliance control value for the Base Rx or Ry orientation has not been output Entering the force or compliance control value of the relevant axis Base Rx Ry will have no effect and will be ignored as 0 ...

Page 46: ...s must be configured before operating the robot for the first time after installation Warning Safety related parameters must be determined through the comprehensive risk assessment and safety parameter settings and the operation of safety functions must be verified before operating the robot ...

Page 47: ...47 3 6 1 Safety Limit Setting For more information about the universally applied safety limit refer to 7 5 2 Robot Limits Setting ...

Page 48: ... 6 2 Space Limit and Zone Setting For more information about the spatial limit which limits the work space of the robot and the zone settings for configuring safety limits for each zone refer to 7 5 11 Space Limit and Zone Settings Overview ...

Page 49: ...o Item Description 1 Robot Serial Number This displays the serial number of the connected robot 2 View Error Log This displays the log of errors that triggered recovery mode 3 Export System Log This executes a function to extract the system log The log from 2 days prior to the present day is extracted 4 Database Backup This executes a function to back up the database of the connected robot Data ba...

Page 50: ...unction on this screen 7 Delete 3rd Party Workcell Item This deletes 3rd party Workcell Items installed via 12 16 Workcell Skill Installation and Removal Workcell Skill Installation and Removal 8 Restore System This restores the application to a specific version It works the same as 12 7 2 System Restore function 9 Unified Update If the update fails the system can be re installed using the 12 7 1 ...

Page 51: ... 3 8 1 Series Compatibility Error Screen Functions No Item Description 1 Controller S W This displays the robot series information for the execution data saved in the controller 2 Robot This displays information on the newly connected robot series 3 Database Backup This executes a function to back up the database of the connected controller The backup file can be used to restore data through 12 15...

Page 52: ... connected Compatibility of each software version is as follows Series Compatibility of each Software Version Note A M H series have different connector structures for robot and controller connection so the robot series cannot be swapped with each other The compatibility error screen is not displayed if a different robot of the same series is connected Caution Take caution after swapping to a diff...

Page 53: ...53 For a detailed change history of each software version refer to the Release Note at RobotLAB https robotlab doosanrobotics com ...

Page 54: ...cs User Manual v2 6 1 54 4 Manual Robot Operation 4 1 Jog Operation The robot can be operated manually using the Jog function on the teach pendant For more information about the jog function refer to 11 Jog Function ...

Page 55: ...on is pressed without configuring the tool weigh the robot may move abruptly When using tools whose center of gravity are far away from the flange too much 400 mm or more the robot can generate unstable vibrations In such cases operate the robot manually using the jog function rather than with Hand guiding 4 2 1 Teach Pendant Hand Guiding Button The user can change the robot s pose while holding d...

Page 56: ...m Description 1 Hand Guiding Button This button can be used to adjust or change the robot s pose 2 5 User Setting Button This button can modify the robot s pose by entering a pose according to a lock condition corresponding to a mode Axis Lock Changes the pose according to the Z axis of the tool coordinates Surface Lock Changes the pose according to the X Y surface of the tool coordinates ...

Page 57: ...anges the position only with the current TCP angle locked For more information about the settings refer to 12 3 2 Cockpit Setting 3 Cancel Button Deletes the most recently saved pose 4 Save Pose Button Saves the current robot pose For more information refer to 8 7 3 Skill Command Work Point Setting with Cockpit Buttons ...

Page 58: ... robot s pose 2 3 User Setting Button This button can modify the robot s pose by entering a pose according to a lock condition corresponding to a mode Axis Lock Changes the pose according to the Z axis of the tool coordinates Surface Lock Changes the pose according to the X Y surface of the tool coordinates Point Lock Changes the angle only from the reference ...

Page 59: ...ons 5 One Line Up Moves the Focus displayed on the screen one line up 6 One Line Down Moves the Focus displayed on the screen one line down Note Cockpit Setting Change The hand guiding button and constraints motion button settings require 0 2 seconds to be modified Pressing the Save Pose button on the Skill Setting screen will automatically move the focus to the next pose The cancel button can onl...

Page 60: ...s on the FTS attached to the tip of the robot therefore it is essential to attach the tool and for the robot to grip it as it moves Moving the robot while holding the body may not trigger a reaction from the robot For details on the functional limits of each robot series please refer to 3 5 Functional Limits of each Robot Series ...

Page 61: ...ape function can be enabled with and buttons for 5 cockpit buttons and with and buttons for 6 cockpit buttons Clamping Escape function can be used with 2 paths on the Teach Pendant screen 1 Entering from Servo Off status Enters in Backdrive Handguiding Mode 2 Entering from Interrupted status Enters in Recovery Handguiding Mode 2 5 2 3 ...

Page 62: ...ction where the user can load and execute task programs created by referring to the Programming Manual For more information about the Workcell Manager refer to 7 Workcell Manager for more information about Task Builder refer to 8 Task Builder and for details on Task Writer refer to 9 Task Writer For more information about the Doosan Robot Language see the separate Programming Manual Note When teac...

Page 63: ...e of the task currently being executed and the current work status 2 Work Screen Area This area is where the user enters and changes settings when performing work using the robot This area is displayed differently according to the selected main menu 3 Main Menu Area This area is the main menu of the system and pressing each menu will go to the corresponding screen 1 2 3 ...

Page 64: ...atus and time of the robot are displayed Note Check the robot state shown in the status display area The information can be used as a reference when performing work using the robot Refer to 3 4 Robot Mode and State 5 2 Work Screen Area The screens displayed on the work screen vary according to the main menu selected by the user Note Status Jog Setting Popup Window The Status Jog and Settings scree...

Page 65: ...oint using the jog button For more information about jog refer to 11 Jog Function Setting System related settings such as language password and network can be configured For more information about setting refer to 12 Environment Setting Power Power to the system can be turned off Note Disabling Main Menu Button When the robot is in Servo Off or in Auto mode some of the main menu becomes disabled l...

Page 66: ...ecution and Stopping Robot Displays the number of settings of the robot work space Tap this item to go to the robot item setting screen of the Workcell Manager For more information about the robot refer to 7 5 Robot Setting End Effector Displays the number of end effectors connected to the robot Tap this item to go to the end effector setting screen of Workcell Manager For more information about e...

Page 67: ...task Tap this item to go to the peripheral setting screen of Workcell Manager For more information about peripherals refer to 7 8 Peripheral Setting Work Status Displays the target number work count and time of the current task The information displayed can be selected using checkboxes ...

Page 68: ...of lines of the task program is displayed Tap the Execute button to execute or pause the task 2 Task Information Check The command the robot is executing repeatedly can be checked 3 Log Message Displays log information of the task 4 Task Execution Information and Stop Displays task repetition count play time and average one cycle execution time Tap the Stop button to stop the current task 1 2 3 4 ...

Page 69: ...een 1 Tap the menu button on the top left of the Home screen 2 Tap Open A list of tasks saved on the system is displayed on the screen right 3 Tap the task to execute from the list Moves to the screen to check and execute tasks Note At first start up of the system the list is empty ...

Page 70: ...obot movement It is possible to set and enable multiple end effectors and the tool center point weight and shape on the Workcell Manager screen so the tool center point weight and shape of the end effector to be used must be set in Tool Settings of the tool No Item Description 1 Tool Setting Button It runs the Tool Setting popup 1 ...

Page 71: ... the Tool Center Point Weight or Tool Shape 3 Press the Setting button to save the tool center point weight or shape of the corresponding Workcell item Note The robot s tool center point and tool weight can be set to default where no input is made by pressing the Reset button ...

Page 72: ... can set commands for peripherals and can configure commands for the robot to perform certain patterns and actions The following screen appears when the Workcell Manager in the main menu is tapped No Item Description 1 Robot Setting items related to the robot can be added and added setting items are displayed General World Coordinates Robot Limits Safety I O Normal I O Safety Stop Mode Robot insta...

Page 73: ...tion molding machine 4 Peripherals Peripherals connected to the robot can be added and the added peripheral is displayed Pallet 4P Conveyor Bolt feeder 5 Workcell Item Area List of Workcell items registered in each category is displayed Selecting a Workcell item moves to the corresponding Workcell item setting screen 6 Add Workcell Item Button Adds a Workcell item to each category Tap the add Work...

Page 74: ...isplay the Workcell category and type selection screen Select the Workcell category and type to register and tap the Select button to go to the corresponding Workcell setting screen Note The Workcell Item name must consist of 20 alphabet characters and numbers The only special character allowed is the underscore and the name cannot have blank space at the front or back ...

Page 75: ...vements If a Workcell Item is updated the existing Workcell Item becomes deprecated and it cannot be added or edited Deprecated Workcell Items are displayed as gray icons Deprecated Workcell Items cannot be added but they can be used to view setting information and can also be used in the current task program If a deprecated Workcell Item is selected the setting information of the Workcell Item is...

Page 76: ...Doosan Robotics User Manual v2 6 1 76 Tapping the Edit button cannot edit the setting but deletion is possible ...

Page 77: ...s an Unavailable Workcell Item This displays the Workcell Item Package Version compatible with the current SW Workcell Items that are not installed and the name and type of Workcell Items that are not compatible In order to properly use such Workcell Items the corresponding Workcell Item must be downloaded from Doosan Mate and installed ...

Page 78: ...ction De selecting checkboxes disables the function 4 Change to Full Screen The simulation screen is displayed as a full screen Tap the minimize button on the full screen to return to the minimized screen 5 Zoom In Zoom Out Zoom in or out the simulation screen 6 Rotate Move Rotate or move the simulation screen Tap the button and drag or tap the screen to control 7 Simulator Direction Setting Sets ...

Page 79: ...rary save of the workspace settings of Workcell For safety related Workcells only the Confirm button is displayed after Confirm Temporary Save has been performed For general Workcells only the Confirm button is displayed 11 Confirm Draft This confirms to save the temporarily saved workspace settings This is displayed only for safety related Workcells and not displayed for general Workcells ...

Page 80: ... and it is different from Base Coordinates which are fixed to the base It is possible to set the pose of Base Coordinates using World Coordinates and World Coordinates can be selected when teaching and moving using the robot in Task Builder and Task Writer To set World Coordinates tap the Add button on the Robot Workcell and select Robot World Coordinates 1 Tap the Edit button at the top ...

Page 81: ...ates is perpendicular to the wall which is in parallel to the Y axis of World Coordinates and the mounting pose inclination and rotation are displayed as 90 and 0 degrees respectively The relationship between World and Base Coordinates is defined as the relationship of the Base Coordinates based on World Coordinates If there is a predefined layout for the work environment set the coordinates accor...

Page 82: ...as a mobile base or linear track the relationship and teaching point position between the workpiece and robot base may change In such environments World Coordinates which are easy to teach work and share can be set For more information refer to 7 5 1 World Coordinates Setting When a tool is installed or replaced the weight of the tool must be configured before operating the robot For more informat...

Page 83: ...ed externally may differ from the configured safety threshold TCP Robot Limits To set the TCP Robot Limits go to the Robot Workcell and select Robot Robot Limits TCP Robot The TCP Robot Limits setting screen layout is composed as follows No Item Description 1 Force N It can limit the force level applied to the tool center point TCP 2 Power W It can limit the mechanical power level of the robot 3 S...

Page 84: ...its settings to default values Joint Speed Limits To set the joint speed limits go to the Robot Workcell and select Robot Robot Limits Joint Speed The Joint Speed Limits setting screen layout is composed as follows No Item Description 1 Joint Speed It can limit the speed of each joint 2 Default Value It resets the Joint Speed Limits settings to default values 1 2 ...

Page 85: ...nd select Robot Robot Limits Joint Angle The Joint Angle Limits setting screen layout is composed as follows No Item Description 1 Angle Range of each Joint It can limit the angle range of each joint 2 Default Value It resets the Joint Angle Limits settings to default values 2 1 ...

Page 86: ...tops the robot according to the stop mode setting for Emergency Stop at the Safety Stop Mode Protective Stop L It can be linked with Safeguarding Devices such as safety matts light curtains and laser scanners High Normal operation Low It stops the robot according to the stop mode setting for Protective Stop at the Safety Stop Mode Protective Stop STO L High Normal operation Low Immediately cuts th...

Page 87: ... Mode Low Jog Servo On are prohibited in Manual Mode Play Resume Servo On are prohibited in Auto Mode Handguiding Enable Switch H It is an operation permission signal used to connect a hand guide switch High Hand guiding available Low Hand guiding unavailable HGC End Task Resume R It is used to resume task program execution after operator s HandGuiding Control HGC in Auto Mode Rising Low to High R...

Page 88: ...pendant Smart Pendant Emergency Button Box Emergency Stop from the dedicated Safety Input Emergency Stop L from the configurable Safety Input The case of Emergency Stop No Loopback L from the configurable Safety Input is EXCLUDED Deadlocks can be avoided by not sending back the emergency stop signal to the peripheral device that originally sending emergency stop signal to robot High Normal operati...

Page 89: ...e Low The robot s TCP is in a Collaborative Zone High Priority Zone L High The robot s TCP is not in any Collision Sensitivity Reduction Zone and not in a High Priority Zone option checked Custom Zone Low The robot s TCP is in a Collision Sensitivity Reduction Zone or in a High Priority Zone option checked Custom Zone Tool Orientation Limit Zone L High The robot s TCP is not in any Tool Orientatio...

Page 90: ... L High The robot is not in Remote Control Mode Low The robot is in Remote Control Mode Standalone Zone L High The robot s TCP is in a Collaborative Zone Low The robot s TCP is not in any Collaborative Zone Collaborative Zone L High The robot s TCP is not in any Collaborative Zone Low The robot s TCP is in a Collaborative Zone High Priority Zone L High The robot s TCP is not in any Collision Sensi...

Page 91: ... Low The robot does not require mastering Home Position L This is used to confirm whether the robot is at the home position High The robot is at the home position Low The robot is not at the home position Deceleration SS1 SS2 L This is used to check whether the robot is decelerating or not during operation In standby or normal operation the signal remains high When deceleration starts the signal c...

Page 92: ...lly In addition to STO SS1 and SS2 RS1 can be set as the Stop Mode TCP Robot Position Limit Violation The Stop Mode activated when the tool center point TCP and robot position violates the Space Limit set by Robot of the Workcell Manager can be set It also determines whether the TCP is within the Safety Zones Collaborative Zone Crushing Prevention Zone Collision Sensitivity Reduction Zone Tool Ori...

Page 93: ...s Rotation Setting Enter the Z axis angle of the robot during installation Note Tap the Auto Calculate button to calculate the inclination value automatically The installation pose Auto Calculate function can be used when the robot base is inclined from the ground by more than 5 degrees The Auto Calculate function for robot installation pose allows easy configuration of the installation pose requi...

Page 94: ...Robotics User Manual v2 6 1 94 The H Series models do not support robot installation pose functions Installation must be done on the ground Auto Calculate is not supported in models without Force Toque Sensors ...

Page 95: ...l shape tap the Add button on the Robot Workcell and select Robot Tool Shape The Safety Password is required during setup Tool shape can be set by adding Cuboid Sphere and Capsule shapes Select a shape that matches the tool and tap the Confirm button ...

Page 96: ...to estimate It is possible for the user to enter a known parameter value without enabling the checkbox If the user enters a known parameter the values for parameters with their checkboxes enabled calculate the weight or center of gravity according to the entered parameter value 3 Tap the Auto Calculate button Warning If the Auto Calculate checkbox for weight is disabled enter a positive real numbe...

Page 97: ...to Calculate button becomes the Stop button which allows the user to stop Auto Calculate If calculation is stopped the weight and center of gravity values are reset Note When automatically measuring tool weight there is a margin of error of 0 5 kg 1 1 lb A Series does not feature Auto Calculate for weight ...

Page 98: ...ordinates can be selected when teaching and moving using the robot from Task Builder and Task Writer To set User Coordinates tap the Add button on the Robot Workcell and select Robot User Coordinates 1 Enter the values required for settings 2 Make sure to read the description image and cautionary items of the User Coordinates 3 User Coordinates can be created based on 1 point 2 points and 3 points...

Page 99: ...e Nudge item from the Robot Workcell With nudge input the force to be recognized nudge force and the standby time from nudge recognition and until the resuming the work delay time can be entered additionally The configurable range of Input force for Nudge is 10 00 50 00N Warning Nudge must only be used only if approved through comprehensive risk assessment A Series which does not feature a Joint T...

Page 100: ... possible to set a separate safety limit only in the designated section using the section setting function Overridable safety limits are designated depending on the section type Collaborative Zone This is a zone where the robot and operator can work together The task speed and joint speed can be set to automatically decelerate in accordance with deceleration rate and it is possible to override the...

Page 101: ...ion uses the LEAST restricted safety limit For these reasons the size of High Priority Zone should be specified as small as possible for safety If Dynamic Zone Enable is selected that Zone is activated deactivated according to the designated Safety I O Input signal If the Input is active then the corresponding Zone is activated If the Input is not active then the corresponding Zone is deactivated ...

Page 102: ...ulti plane Box The shape of Space Limit Zone is set as a multi plane box Set the height of the top and bottom of the multi plane box and press the Add Pose button to add a plane Select X and Y coordinates to set the direction of the plane and tap the Save Pose button Up to six planes can be configured Set the coordinates for the points of the area to be configured Sphere The shape of Space Limit Z...

Page 103: ... tab 3 Set the Dynamic Zone Enable and Advanced Options in the Parameters tab and press Draft 4 Verify that all parameters displayed are the same as what are Intended to be set then check Confirm draft and press Confirm 5 Press the Activate Toggle button to apply the Space Limit Note There are Zone Margin defaults depending on the setting methods If the tool shape is set and Body volume check is n...

Page 104: ...e Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the Geometry tab 3 Set the TCP Robot Limits Safety Stop Modes and Dynamic Zone Enable in the Parameters tab and press Draft 4 Verify that all parameters displayed are the same as what are Intended to be set then ch...

Page 105: ...he Workcell Name field on the top of the Workcell Setting screen 2 Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the Geometry tab 3 Set the TCP Robot Limits Safety Stop Modes Dynamic Zone Enable and Advanced Options in the Parameters tab and press Draft 4 Verify that all parameters displayed are the same as what are Intended to be set then check...

Page 106: ...ce and Zone Margin in the Geometry tab 3 Set the override option TCP Robot Limits and Dynamic Zone Enable in the Parameters tab and press Draft Warning Collision Sensitivity Reduction Zone is a High Priority Zone High Priority Zones have priority over the other Zones and global Robot Limits setting And If multiple High Priority Zones are overlapped the safety function uses the LEAST restricted saf...

Page 107: ... Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the Geometry tab 3 Set the TCP direction limit and Dynamic Zone Enable in the Parameters tab and press Draft 4 Verify that all parameters displayed are the same as what are Intended to be set then check Confirm draf...

Page 108: ...stricted safety limit For these reasons the size of High Priority Zone should be specified as small as possible for safety Note If the TCP is in a position where multiple Zones overlap the following rules apply for each safety fuction individually 1 Normal Mode If there is no zone set as High Priority Zone the most restricted limit among the limits of overlapped Zones is selected as the safety lim...

Page 109: ... the Global Reduced Limit and the limits of High Priority Zones without Override Option is selected If Override Options of all High Priority Zones are checked the LEAST restricted limit among the the limits of High Priority Zones is selected 5 Verify that all parameters displayed are the same as what are Intended to be set then check Confirm draft and press Confirm 6 Press the Activate Toggle butt...

Page 110: ...Developer LAB https devlab doosanrobotics com 7 6 1 Grippers and Tools Grippers are end effectors that have fingers to pick up or drop objects The following is the setting screen for a pneumatic gripper This example will be used as the basis for explaining how to configure an end effector For more information about each gripper setting refer to the separate manuals provided No Item Description 1 W...

Page 111: ...Name Displays the output signal name Signal Type Sets the input signal type controller flange Modbus Port Number Select the end effector output signal port Operation Displays the input signal status If the signal is normal it is displayed as green 6 Delete Deletes the end effector being configured 7 Confirm Saves the setting Tool and screwdriver are available Configuring tool settings is similar t...

Page 112: ...ll button at the bottom of the end effector of the Workcell Manager 2 Enter the Workcell name in the Workcell Name field at the top of the Workcell Setting screen 3 Select the port number for I O signal setting Default Value displays the initial value set by the App Builder 4 Tap the Confirm button ...

Page 113: ...est and tap the Edit button 2 Tap the On Off button of the Signal to test the output signal 3 Select a function among the Workcell Item Actions and tap the Test button to test the end effector function 4 Check whether the end effector receiving the output signal operates normally Note If the input signal is entered properly a green indicator lights up ...

Page 114: ... Calculate the calculation is made based only on the X Y and Z positions so it is necessary to enter the rotation angle The rotation angle can be defined with items A B and C and it is based on the Euler Z Y Z rotation method The definitions of the coordinate axis expressed with x y z and coordinate axis expressed with X Y Z are as follows Coordinate axis of Flange Coordinate x y z The coordinate ...

Page 115: ...uring the TCP according to the method described above X Y Z A B C 0 0 100 0 0 0 General Gripper with Z direction offset TCP Coord X Y Z A B C 100 0 300 180 45 0 Left Gripper with 45 degree angle TCP Coord L X Y Z A B C 100 0 300 0 45 0 Right Gripper with 45 degree angle TCP Coord R Z Z Z Z Z Y X X X X X Y Y Y Y A B C 3 Rotated by C along Axis Z Flange Coord TCP Coord 1 Rotated by A along Axis Z 2 ...

Page 116: ...d point on the tool coordinate at the base end effector TCP point on the Z axis by the angle entered 1 Select the Tool Center Point tab on the end effector setting screen 2 Tap the Auto Calculate toggle switch 3 Select the Reference End Effector item 4 Select the end effector to copy 5 Configure the tool Z axis rotate angle of the configuring end effector and reference end effector 6 Click the Aut...

Page 117: ...117 Note The configuring end effector and base end effector must be symmetrical on the tool Z axis ...

Page 118: ...l materials to allow the material to be cut to the desired shape using a tool turret Press Machine Press Machine This is a machine that compresses a flat material to form a desired shape Injection Machine Molding Machine This is a device that injects materials such as plastic into a mold and forms it into the desired shape Machine tool settings are similar to those of the gripper settings For more...

Page 119: ...oint This is a cradle that allows the target to be placed in a set formation Square stack and linear patterns available Pick up Bolt Feeder This is a device that supplies bolts for screwdriving Others Button This is a device that sends On Off signals External Encoder Externally installed Encoder Setting Vision Smart Vision Camera This is a device that corrects the target position based on video in...

Page 120: ...tics User Manual v2 6 1 120 7 8 1 Others The others category settings are similar to those of the gripper settings For more information about other category settings refer to the separate Reference Manual provided ...

Page 121: ...121 7 8 2 Vision For more information about Vision settings refer to the separate Reference Manual provided ...

Page 122: ...o the separate Reference Manual provided To use Task Builder tap Task Builder on the main menu 8 1 Task Management 8 1 1 Create New Task To create a new task follow these steps 1 Tap New on the initial screen of Task Builder If a task is being edited tap the Menu button and tap New 2 Select a Workcell item from the task to create and tap the button to move the selected item to the list 3 After sel...

Page 123: ...of Task Builder 2 Select a template to use Available templates vary according to the Workcell Items registered in the Workcell Manager If no Workcell Item is registered in the Workcell Manager no template will be displayed 3 Enter the name of the new task program in the File Name field 4 Tap the Confirm button When a new task is created using a template the task edit screen is displayed For more i...

Page 124: ...Manual v2 6 1 124 8 1 3 Save Task To save an edited task tap the Menu button and tap Save Note If the file is not saved for the first time a confirmation window appears Tap the Confirm button to save it to an existing file ...

Page 125: ...e task as a different file follow these steps 1 Tap the Menu button and tap the Save as button 2 When the Save as window appears enter the task name and tap the Confirm button When the save is complete the Save Complete window appears ...

Page 126: ... item selected from the current task or to select or remove an additional Workcell item please refer to the following 1 Tap the Menu button and press the selected Workcell item 2 From the current task it is possible to add or remove new Workcell items in the current task or Workcell list ...

Page 127: ...torage devices with FAT32 file systems can be used 2 Tap the Menu button and tap Export 3 After the Export window appears select the drive of the external storage device and tap the Confirm button 4 When the Save as window appears enter the task name and tap the Confirm button When the save is complete the Save Complete window appears Note The file extension of the saved task file is tb ...

Page 128: ...es on the initial screen of the Task Builder If a task is being edited tap the Menu button and tap Open 2 Select a task to open from the file list and tap the Open button 3 Searches for tasks in the file list can be made using the filter function Search in latest oldest alphabetical order and reverse order is possible ...

Page 129: ...To delete a saved task follow these steps 1 Tap Saved Files on the initial screen of the Task Builder If a task is being edited tap the Menu button and tap Open 2 Select a task to delete from the file list and tap the Delete button ...

Page 130: ...the task file to the USB slot 2 Tap Import on the initial screen of Task Builder 3 Tap the Search button 4 When the Search File window appears select the task to import and tap the Confirm button 5 Tap the Import button on the bottom right When the task file is saved on an external storage device the Save Complete window appears To load a task file saved on the system refer to 8 1 7 Load Saved Tas...

Page 131: ... target point Move B Used to move the robot along a line and arc connecting multiple via points and target points within the workspace Move Spiral Used to move the robot along a path extending to the outer side from the center of a spiral Move Periodic Used to move the robot along a path repeated periodically Move JX Used to move the robot to the target workspace coordinate and joint form This doe...

Page 132: ... content is omitted with an ellipsis Formatting code such as newline n or carriage return r is not allowed Watch Smart Pendant This is used to repeat the task command Force Control Command The force of the robot can be controlled during task execution Compliance This is used to control Compliance during task execution Force This is used to control force during task execution Other Commands There a...

Page 133: ...e Advanced Commands There is a command to execute Hand guiding Hand Guide This is used to execute direct teaching during task execution Nudge This is used to delay task execution until Nudge applying force to the robot input Skill Commands This is an application command preset for using Workcell Items on the robot A series of commands including robot motion and I O signals are contained within a s...

Page 134: ... deprecated and it cannot be added or edited Deprecated skill commands are displayed as dimmed icons Deprecated skill commands cannot be added new but can be used to view property information or be used in the current task program In the property window of a deprecated skill command the phrase Deprecated Item is displayed If a deprecated skill command is present it is recommended to replace it wit...

Page 135: ...en attempting to enter the Home Workcell Manager or Task Writer screen a message confirming whether to save the program being edited is displayed Jog and Settings screens are displayed as popup windows Refer to 3 4 Robot Mode and State 8 4 1 Edit Task Screen Configuration The edit task screen of Task Builder is structured as follows No Item Description 1 Edit Command Tool CTR Multi Select Select m...

Page 136: ...onfigured in virtual ream mode Note GlobalVariables The global variable and global pose of the task program can be entered in the Property tab of GlobalVariables and predefined global variables and global poses can be used in the property screen of the command added in the task list MainSub and EndMainSub The command selected by the user is added to the bottom of the MainSub and commands are execu...

Page 137: ...d Command To add a command follow these steps 1 Select the location to add a command in the Task List A command is added to the next line of the selected location 2 Select the command to add from the Command tab x ...

Page 138: ...r Manual v2 6 1 138 8 4 3 Delete Command To delete a command follow these steps 1 Select a command to delete and tap the Delete button in the command edit tools 2 When a confirmation window appears tap the Confirm button ...

Page 139: ...st follow these steps 1 Select command to copy or cut 2 Tap the Copy or Cut button on the command edit tool 3 Select the location to paste the command The copied cut command is added to the next line of the selected location 4 Tap the Paste button on the command edit tool ...

Page 140: ...ing to the command Some buttons in the command properties are enabled when related properties are entered For user convenience some properties are preconfigured with default values If necessary comments for the command can be entered The properties of a command are applied only after the Confirm button is tapped For more information about command properties refer to the Reference Manual provided s...

Page 141: ...teps 1 Select the type Absolute Relative of reference coordinate and coordinate value 2 Either use the jog function or perform direct teaching to move the robot to the desired position 3 Tap the Save Pose button to save the robot tool position If necessary define a variable using GlobalVariables or the Define command ...

Page 142: ...roperty to Local to designate the velocity to be applied to the command individually The user can enter a speed and acceleration directly or use the slide bar to setting The user can configure variables if necessary Caution If a heavy 15 kg or more tool is attached it is recommended to set the acceleration value to the same amount or less Speed Acceleration Ratio 1 1 If a high acceleration is set ...

Page 143: ...he motion to control the flow of the program Synchronized Program flow is put on hold until the motion ends Asynchronized This executes the following line simultaneously with the motion This can be utilized for tasks such as verifying external signals or delivering output during motion ...

Page 144: ...set radius centering the target point of the motion command it retains the speed of the current command and moves to the target point of the next command Override When the robot reaches the set radius centering the target point of the motion command it immediately reduces the speed of the current command and moves to the target point of the next command Note If a skill is added or TCP setting perf...

Page 145: ...ands requiring two or more segments are referred to as multi segment motion commands The following is an example of configuring a Move SJ command 1 Tap Add Pose in command properties Segment 1 is added to the bottom line of Move SJ command 2 Either use the jog function or perform direct teaching to move the tool to the desired position 3 Tap the Save Pose button in segment properties to save the r...

Page 146: ...eference pose TCP Setting Using an End Effector skill command will automatically change the TCP offset setting The End Effector skill command execution stage includes an offset setting suited for the TCP of the End Effector If the TCP offset changes the Blending Motion function which smoothly connects the previous motion command cannot be used Move to Approach Pose This is a point available to mov...

Page 147: ...coordinates tab while setting the detailed motion can cause a malfunction during skill execution so make sure to use the absolute coordinates for reference point teaching Move to Retract Pose This is the point to pick up the workpiece and move it safely to another point It is the Z direction from the Approach Pose and a different direction can also be selected The Retract Distance entered is autom...

Page 148: ...iate point and an end point and the Action Start Pose is the point where the work starts i e Door_OpenClose Skill Start Pose Move to End Pose If the End Effector execution target does not end with a single motion there may be an intermediate point and an end point and the Action End Pose is the point where the work ends i e Door_OpenClose Skill End Pose ...

Page 149: ...tered the function detects contact with the target stops at a corresponding position and activates the gripper to grab the target This function must be used with Compliance Control Function If Force is entered and Compliance Control is not enabled an error occurs Contact is a function that detects contact with an external force so the sensitivity of Collision Detection must be set at low levels or...

Page 150: ... 6 1 150 Note If FTS is not installed when using the A Series the Contact Detection function cannot be used In this case the use of compliance control is limited and stiffness can be modified only in the translation X Y Z direction ...

Page 151: ...ction pose For example with the Pick skill command 1 Add a skill command from Task Builder and tap the added skill command 2 Perform direct teaching to the skill s action pose to move the robot 3 Press the Save Pose button on the cockpit Note Save Cockpit Pose is available from the Task Builder and Task Writer ...

Page 152: ...ode and engages Auto mode When entering manual mode on the Play tab go to the Command tab or Property tab before moving to another menu 8 8 1 Virtual mode screen The virtual mode screen of Task Builder is structured as follows No Item Description 1 Real mode Sets the robot test play mode Real mode Operates an actual robot to test the task in the task list Virtual mode Uses a simulator screen to te...

Page 153: ...n button Moves the simulation screen horizontally and vertically 6 Viewpoint button Sets viewpoints with the robot model as the control point 7 Speed slider It sets the speed of the robot in a real or a virtual mode 8 Stop button It stops the current task 9 Execute pause toggle button It executes or pauses the work in the task list 10 Time It displays the time spent on the corresponding command sk...

Page 154: ...mber of task executions 4 Average execution time Displays the average time spent to execute one cycle of the task in the task list 5 Information Screen Shift Tab Shifts between the information screen of the robot end effector and the I O information screen End Effector Information Tab Displays the center point of the robot tool the tool weight and the collision and force information I O Informatio...

Page 155: ...n a real or a virtual mode 11 Stop button It stops the current task 12 Execute pause toggle button It executes or pauses the work in the task list 13 Time It displays the time spent on the corresponding command skill Caution Before executing a task execute the task in virtual mode to check whether the task operates as intended It is recommended to test the robot program by designating temporary wa...

Page 156: ... 4 Average execution time Displays the average time spent to execute one cycle of the task in the task list 5 Information Screen Shift Tab Shifts between the information screen of the robot end effector and the I O information screen End Effector Information Tab Displays the center point of the robot tool the tool weight and the collision and force information I O Information Tab Displays the I O ...

Page 157: ...f the digital signal is a low signal the icon is displayed in gray 8 Speed slider It sets the speed of the robot in a real or a virtual mode 9 Stop button It stops the current task 10 Execute pause toggle button It executes or pauses the work in the task list 11 Time It displays the time spent on the corresponding command skill I O information screen in A Series only monitors 2 flange I Os ...

Page 158: ... made only in virtual mode where the robot is only operated in the simulator When Real mode is turned on a status display showing the I O status appears When executing a task program in virtual mode it is only executed once regardless of the setting and diverging through I O signal within the task does not execute properly Tool center position and tool weight information on the play information sc...

Page 159: ...ly available in Task Builder and advanced custom code functions are only available with the Task Writer Tap the Task Writer button to go to the Task Writer screen 9 1 Task Management 9 1 1 Create New Task To create a new task follow these steps 1 Tap New on the main Task Writer screen If a task is being edited tap the Menu button and tap New 2 Enter the name of the new task program in the File Nam...

Page 160: ...Manual v2 6 1 160 9 1 2 Save Task To save an edited task tap the Menu button and tap Save Note If the file is not saved for the first time a confirmation window appears Tap the Confirm button to save it to an existing file ...

Page 161: ...a task as different file follow these steps 1 Tap the Menu button and tap the Save as button 2 When the Save as window appears enter the task name and tap the Confirm button When the save is complete the Save Complete window appears ...

Page 162: ...lot Only external storage devices with FAT32 file systems can be used 2 Tap the Menu button and tap Export 3 After the Export window appears select the drive of the external storage device and tap the Confirm button 4 When the Save as window appears enter the task name and tap the Confirm button When the save is complete the Save Complete window appears Note The file extension of the saved task fi...

Page 163: ...elect a task to open from the file list and tap the Open button 3 Searches for tasks in the file list can be made using the filter function Search in latest oldest alphabetical order and reverse order is possible Note Even if the model where the task was created is different the task can be loaded on any M Series model However the M Series and A Series are not mutually compatible ...

Page 164: ...6 Delete Saved Tasks To delete a saved task follow these steps 1 Tap Saved Files on the main screen of Task Writer If a task is being edited tap the Menu button and tap Open 2 Select a task to delete from the file list and tap the Delete button ...

Page 165: ...the USB slot 2 Tap the Import on the Task Writer initial screen 3 Tap the Search button 4 When the Search File window appears select the task to import and tap the Confirm button 5 Tap the Import button on the bottom right When the task file is saved on an external storage device the Save Complete window appears To load a task file saved on the system refer to 9 1 5 Load Saved Tasks ...

Page 166: ...ese steps 1 Connect the external storage device with the task file to the USB slot 2 Tap the Export on the Task Writer initial screen 3 The export popup window appears Select the external drive to export the task and tap the Confirm button 4 The Save As popup window appears Enter the task name in the popup window and tap the Confirm button ...

Page 167: ...can be added to each GlobalVariables command CustomCode The user can enter DRL Codes or load predefined programs saved in an external storage device MainSub and EndMainSub The command selected by the user is added to the bottom of the MainSub and commands are executed in the order of commands located at the bottom of MainSub to commands located at the top of MainSub Thread Jobs to be performed sim...

Page 168: ...g multiple via points and target points within the workspace Move Spiral Used to move the robot along a path extending to the outer side from the center of a spiral Move Periodic Used to move the robot along a path repeated periodically Move JX Used to move the robot to the target workspace coordinate and joint form This does not move along a straight line Stop Motion This is used to stop task exe...

Page 169: ...mart Pendant This is used to control the Function button Force Control Command The force of the robot can be controlled during task execution Compliance This is used to control Compliance during task execution Force This is used to control force during task execution Other Commands There are commands that weigh the item and receive user input Note Repeated usage of specific commands regarding the ...

Page 170: ...e This is used to measure the weight during task execution and save it in a variable Wait Motion This is used to temporarily stop the robot after the previous motion command is complete GlobalVariables This is used to add a Global Variable Advanced Commands There is a command to execute Hand guiding Hand Guide This is used to execute direct teaching during task execution Nudge This is used to dela...

Page 171: ...171 9 4 Setting and Applying Command Properties Configuring and applying the commands in Task Writer are identical to those of Task Builder ...

Page 172: ...Doosan Robotics User Manual v2 6 1 172 9 5 Execute Task Program The execution of task programs in Task Writer is identical to that of Task Builder ...

Page 173: ... Skip Point Button Sets a skip point in a command When the command is reached after executing the task the robot does not execute the task 4 Play Restart Toggle Button Executes the task in debug mode If the break point is reached during task execution or if the task is paused the button changes to the Restart button 5 Pause Button Temporarily pauses the current task execution 6 Stop button Suspend...

Page 174: ...he output test cannot be performed during Auto mode 10 1 Screen Layout No Item Description 1 Backdrive If the robot is stopped due to an abnormality during operation the user can cut the power to each joint and move the joint to the desired position manually to recover the normal operation status 2 Safety Recovery Sets the robot angle and position when setting the robot in software recovery mode a...

Page 175: ...ce 7 Job Space Status Value Displays encryption of the entire job space data registered to check whether the job space setup has been modified 8 Safety Setup Status Value Displays encryption of the entire safety data registered to check whether the safety setup has been modified ...

Page 176: ... digital input status of the corresponding number If the digital signal is a high signal the icon is displayed in light green If the digital signal is a low signal the icon is displayed in gray Note If the digital signal is High even when the digital input is set as the safety input the icon is displayed in blue and if it is Low it is displayed in gray Only two flange I Os of the flange digital in...

Page 177: ...ess the drop down list of the analog input of the controller to select the item to check 2 Check the analog input information of the selected item displayed on the screen Note The analog input value cannot set the input value in the status window ...

Page 178: ...ress the On Off icon corresponding to the port number to activate or deactivate digital output The icon changes to light green and the corresponding port is enabled when the On icon is pressed The icon changes to light green and the corresponding port is disabled when the Off icon is pressed Only two flange I Os of the flange digital output of A Series are displayed ...

Page 179: ...down list of the analog output of the controller to select the item to set Analog output information of the selected item is displayed on the right side of the drop down list The default value for analog output signals is voltage 2 Modify the analog output value ...

Page 180: ... being edited they must be saved in order to test the I O device 3 Port Number It displays the port number used for testing the I O device and it is displayed when the signal is on 4 Port Name The port name of the I O device for testing can be designated 5 I O Test A signal can be sent to the corresponding port 6 Initialization Initializes all signals of the device as off 1 2 3 4 5 6 ...

Page 181: ...1 Modbus Type Select the Modbus type to check TCP RTU and predefined Modbus are available 2 Slave Displays the list of IPs Ports of the slave set of the selected Modbus type When selected it displays a list of corresponding signals 3 Signal List Displays a list of signals set on the selected slave Input and output signals can be checked 1 2 3 ...

Page 182: ...g unable to be operated and Workcell Manager Task Builder Task Writer and Jog which are related to robot arm operation are disabled in the main menu To change from Servo Off to Servo On tap the Status button on the main menu and tap the Servo On button on the top right To shift from Servo On to Servo Off tap the Status button of the main menu and tap the Servo Off button in the top right corner of...

Page 183: ...pplying force Due to the deceleration ratio of the decelerator inside the joint the joint sagging speed due to the manipulator weight is not high and movement speed when force is applied is also not high If the decelerator malfunctions or if joints move at a speed faster than a certain speed during Backdrive mode the brakes of all joints are applied automatically to ensure safety 4 Set the brake O...

Page 184: ...tion related safety violations such as the robot exiting the operation area or violating prohibited areas occurs or force is continuously applied when the robot is stopped due to colliding with a fixed object Servo On or Jog cannot be set even when attempting to reset the robot to a normal state using the Jog or program In such cases Software Recovery mode is used to reset the robot to normal Pack...

Page 185: ...creen and use and button to set the position Or press the and buttons of the Cockpit to adjust the joint angle by direct teaching For more information about the cockpit buttons refer to 4 2 2 Cockpit Button five buttons or 4 2 3 Cockpit Button six buttons Changes made to the setting are reflected on the simulation window on the left in real time 3 When the setting is complete tap the X button on t...

Page 186: ... window 2 Select the Packaging Mode tab 3 Tap the Packaging Mode toggle button to enable Packaging Mode 4 Tap the Go to Packaging Pose button The robot automatically moves to the set packaging pose To release the packaging pose tap the Release Packaging Pose button to move the robot to home position then tap the Packaging Mode toggle button to disable packaging mode ...

Page 187: ...ves when the Jog button is pressed It is possible to move the robot based on the current position on the Jog tab screen The robot can be moved by configuring the target angle coordinates on the Move tab screen It is possible to configure the reference coordinates on the Jog tab screen and Move tab screen as a joint or task The robot s alignment reference is selected in the Align tab screen Note On...

Page 188: ...tly operated in Jogmode is displayed If the robot position changes by pressing the direction button the coordinate also changes 5 Direction It moves the robot in the or direction on the selected axis 6 Manual Mode Speed Configures the robot movement speed in manual mode The speed can be adjusted by dragging the slider pointer If the slider pointer is at 100 the corresponding maximum joint speed on...

Page 189: ...Simulator Press the drop down menu to select the workspace to display Note TCP Speed Limit The highest operation speed during jog and movement button operation is limited to 250 mm s according to safety policies If the robot stops due to reaching the joint limit or if a collision is detected while moving the robot with jog mode set the safety recovery mode and move the robot to be positioned withi...

Page 190: ...ust the angle based on the robot joint follow these steps 1 Select the Joint tab on the Joint screen 2 Select the axis J1 J6 to adjust the angle 3 Press and hold the Direction Button to adjust the angle of the corresponding axis Note Safety area does not apply in virtual mode ...

Page 191: ...ask tab on the Jog screen 2 Select the display coordinates to be used as the base and select the Base as the reference point of the task coordinates 3 Select the Base Coordinates to move 4 Press and hold the Direction Button to move the corresponding axis Note Safety area does not apply in virtual mode Z Z Y Y X X ...

Page 192: ...World Coordinates follow these steps 1 Select the Task tab on the Jog screen 2 Select the display coordinates to be used as World Coordinates and select World as the reference point of the task coordinates 3 Select World Coordinates to move 4 Press and hold the Direction Button to move the corresponding axis ...

Page 193: ...lect Base or World as the display coordinates and set the Tool based on the reference point of the task coordinates 3 Select the Tool Coordinates to move 4 Press and hold the Direction Button to move the corresponding axis Note Safety area does not apply in virtual mode Rx Ry and Rz are executed according to TCP tool center position Z Z X X Y Y ...

Page 194: ... the robot with a jog 3 Reference Point Setting It configures the reference point to align the task coordinate Base It configures the task coordinate based on the robot base World Sets task coordinates based on the set World Coordinates Tool It configures the task coordinate based on the tool installed on the end of the robot s six axis 4 Manual Mode Speed It configures the robot s movement speed ...

Page 195: ...the robot at a specific angle follow these steps 1 Select the Move tab and select the Joint tab 2 Enter the target angle of the robot joint 3 Enable the Real Mode 4 Tap and hold the Move to Corresponding Pose button to adjust the robot joint angle ...

Page 196: ...obot based on base coordinates follow these steps 1 Select the Move tab and select the Task tab 2 Select Base as the display coordinates and select the Base tab 3 Configure the pose to move with reference to the base 4 Tap and hold the Move to Corresponding Pose button to go to the set coordinate ...

Page 197: ... Coordinates follow these steps 1 Select the Move tab and select the Task tab 2 Select World as the display coordinates and select the World tab 3 Configure the pose to move with reference to the World Coordinates 4 Tap and hold the Move to Corresponding Pose button to go to the set coordinate ...

Page 198: ...rdinates To move the robot based on tool coordinates follow these steps 1 Select the Move tab and select the Task tab 2 Select the Tool tab 3 Configure the pose to move with reference to the tool 4 Tap and hold the Move to Corresponding Pose button to go to the set coordinate ...

Page 199: ... can be set on the Align screen No Item Description 1 Basic Alignment It aligns the TCP based on the Base World axis and target direction 2 Align with Target Aligns the TCP with the target 3 Align with Workcell Item Aligns the TCP with Workcell item 1 2 3 ...

Page 200: ...h the Base World Coordinates axis making it is easy to specify a teaching pose To perform teaching after locking the pose use the plane or line locked direct teaching function with Cockpit buttons To align the robot TCP based on the base axis follow these steps 1 Select the Align tab and select the Basic Alignment tab 2 Select the reference coordinates for alignment 3 Select the reference tool axi...

Page 201: ...bot to the default home position or the user home position configured in Settings on the main menu 1 Select the Align tab and select the Basic Alignment tab 2 Tap and hold the Home Position button to move the robot to the home position ...

Page 202: ...ct teaching function with cockpit buttons To align the robot TCP based on target follow these steps 1 Select the Align tab and select Parallel To Taget tab 2 Select the reference coordinates for alignment 3 Select the tool axis to align 4 Move the robot to the desired position and tap Point 1 5 Tap the Save Pose button of Point 1 Point 2 and Point 3 are set in the same way When settings are comple...

Page 203: ...position together press the toggle button of Point 4 move the robot to the desired position and tap the Save Pose button 7 Tap and hold the Align Axis button to align the axis Place the 6 axis head 150 mm above the target in the Z axis direction ...

Page 204: ...cell Items tab 2 Select the desired item from the Workcell Item 3 Tap and hold the Align Axis button to align the axis Note The sorting directions for 11 3 3 Alignment based on Target and 11 3 4 Alignment based on Workcell Items are determined according to whether the teaching sequence of three points taught in the Workcell Item was clockwise or counter clockwise Refer to Figure below ...

Page 205: ...is can be used when precise movement to the target point is required during robot teaching Jog Plus can be activated in the following ways 1 Press the jog button for more than 1 second in the main menu at the bottom of the screen 2 The Jog Plus screen is activated Jog Plus can be deactivated by pressing the X button ...

Page 206: ... This speed influences the speed controlled by the jog and movement buttons 3 Reference Point Setting It configures the reference point to align the task coordinate Base It configures the task coordinate based on the robot base World Sets task coordinates based on the set World Coordinates Tool It configures the task coordinate based on the tool installed on the end of the robot s six axis 4 Selec...

Page 207: ...n If the button is held down the selected axis is moved in the direction in accordance with the increment location 8 Force Monitoring Displays the occurring external force based on the selected coordinate system 9 TCP Setting Sets TTCP 10 Tool Weight Indicator Sets the tool Weight 11 Change Jog location Changes the Jog location to the top or bottom of the screen ...

Page 208: ...y tab the Settings button on the main menu is disabled 12 1 Language Setting To set the UI language of the operation program follow these steps 1 Tap the Setting button on the main menu and select Local Language 2 Select the language from the language list and tap the Confirm button 3 To change the SI units to U S units select English INCH and tap the Confirm button The units displayed on the prog...

Page 209: ...1 Tap the Settings button on the main menu and select Date and Time Time 2 Set the time and tap the Confirm button Note The log time of the logs saved in the system maintain the existing date and time even after changing the date and time of the system If the system is accessed via Windows the Date and Time setting function is not available and the system automatically synchronizes with the date a...

Page 210: ...Selecting Default Home Position sets the default 3 Move the robot to the desired position and tap the Save Pose button 4 Tap the Confirm button Warning When a robot or joint of a robot is being swapped User Home Position must be reset using the teach pendant The User Home Position setting of DART Studio is not reflected on the teach pendant If the User Home Position is set using DART Studio and th...

Page 211: ... Cockpit 2 Select individual functions for Button 1 and Button 2 from the drop down list 3 To activate Clamping Escape press and hold Button 1 and Button 2 simultaneously for 2 seconds 4 When selection is completed tap the Confirm button Note The values of Button 1 and Button 2 must be different ...

Page 212: ... the setting management window 2 Set the Use Remote Control button to ON If the system is restarted with remote control set to ON it boots up in remote control mode 3 Enter the output signal input signal and default load task values If the input signal is not set settings cannot be made In the Workcell Manager Safety I O Input tab Edit Select Port Configure Remote Control Enable H ...

Page 213: ...Protective Stop causing the transition to Servo Off state A red protective stop popup is displayed If Servo On signal is entered after removing the cause of protective stop the robot servo drives turn on and the popup closes automatically 3 Protective Stop causing the transition to Interrupted state A yellow protective stop popup is displayed If Interlock Reset signal is entered after removing the...

Page 214: ...Doosan Robotics User Manual v2 6 1 214 ...

Page 215: ... Use Smart Pendant toggle to ON If the system is restarted with the use Smart Pendant set to ON it boots up in remote control mode 3 Select Task It is the task to be used in Smart Pendant mode 4 Click the Confirm button and click the Start Smart Pendant button The Smart Pendant dashboard screen is displayed and commands using Smart Pendant become available When the Smart Pendant mode launches from...

Page 216: ...ol Weight information used by the current task 13 Tool Shape Indicator Tool Shape information used by the current task 14 Collision Collision threshold information 15 Force Force information 16 Digital Flange I O information Digital Flange I O information 17 Close Button to close the Smart Pendant mode Note If the Emergency Stop or Protective Stop occurs in Smart Pendant Mode it is handled as foll...

Page 217: ...fety violations where the cause of them cannot be removed without moving the robot Clamping Escape by cockpit can be used 4 For details on status for each mode please refer to 3 4 4 Status and Flange LED Color for Each Mode ...

Page 218: ... 1 Select Password Safety Password in the Settings menu 2 Enter the current password of the program and tap the Confirm button The initial system password is admin To disable the password tap the Password Lock button and disable 3 Tap the Confirm button Note If the user forgets the password the system must perform factory reset Even if the password lock is disabled rebooting the system will enable...

Page 219: ...reen asking for the administrator password is displayed When user authority is changed from Off to On the screen returns to the Home screen and changes to operator role 3 Enter the new password in the Change Password field and tap the Confirm button Password change settings are complete 4 To change a user role tap the User Role button Note The initial administrator password is admin The initial te...

Page 220: ...dels it is necessary to purchase an external router and configure a network 12 6 1 User defined Modbus Support Function Code The Modbus Master of Doosan Robotics can be used for I O expansion or data exchanges through connections with other devices The Function Codes supported by Doosan Robotics are as follows Function Code Description 1 Read Coils 2 Read Discrete Inputs 3 Read Multiple Holding Re...

Page 221: ...gnal button 7 If a signal must be deleted press the Delete Signal button 8 Set the Signal Type Signal Address Signal Name and Slave ID for the newly added signal In the case of a TCP Slave the default Slave ID is 255 However if Advanced Settings is checked the Slave ID can be modified 1 247 In the case of Signal Type Multiple Coils for FC 15 and Multiple Holding Registers for FC 16 select the Edit...

Page 222: ... registered to the Modbus Slave select the View button If the registration process fails check the connection with the device and select the Settings button 4 If the Modbus has been successfully registered the input and output of the registered signal can be checked from the Details screen An output motion can be performed by entering a value and selecting the button Note The Modbus RTU function i...

Page 223: ...check fails examine the file for any issues 7 Tap the Next button 8 Read the Cautions and Terms and Conditions for Agreement and tap the checkbox below to enable the Agree and Proceed button 9 Tap the Agree and Proceed button 10 Tap the Start Update button Once the update starts the progress and update log can be viewed from this screen 11 When the update is complete restart the system The control...

Page 224: ...tion refer to 3 7 Application Recovery Mode Screen Note If the system is accessed via Windows only controller software update is performed Updates for the program from Windows must be performed separately In addition if the update is performed on Windows the update cannot be performed in Servo On mode due to safety reasons Perform the update with in Servo Off mode ...

Page 225: ...on selected 2 Select the Radio button of the version to be restored The Restore button is enabled 3 Press the Restore button 4 Restart the system when restore is complete Note If the system is accessed via Windows the system restore function is not available If one of the following issues occurs on an A Series product after System Restore please refer to 12 13 Friction Calibration to perform frict...

Page 226: ...or applies too much force when direct teaching is attempted If control in a specific direction is difficult when direct teaching is attempted If collision detection occurs frequently while the collision sensitivity is set to the default setting 2 If error 2 9015 occurs sporadically in the teach pendant Error 2 9015 The external force of the robot tip has exceeded the safe range ...

Page 227: ...oduct license can be entered or checked The serial number model number and license are used for customer support services To enter a new license code follow these steps 1 Tap the Settings button on the main menu and select License 2 If the license requires an update enter the newly issued license code and restart the system ...

Page 228: ...During Program Execution The Run screen under Home supports real time logging You can see logs of the Alarm Warnin g Message and Comment types in real time as they occur during program execution Each typ e can be toggled on off and a maximum of 100 can be checked at once 12 9 3 Extract Log Logs created during robot operation can be saved on a USB storage media Search can be made in units of 1 week...

Page 229: ...les are deleted 1 Tap the Setting button on the main and select Factory Reset 2 Tap the Reset button 3 When reset is complete restart the system 12 10 1 Delete Log Delete log is a function that deletes all logs saved on the robot How to delete Logs 1 Tap the Setting button on the main menu and select Factory Reset 2 Tap the Delte button 3 Deletion status can be checked in System Log Items ...

Page 230: ...nnection Status Details Remarks O O Factory reset including Vision data Vision Category of WCM screen retained O X A Vision Connection related popup is displayed and no factory reset X O Factory reset excluding Vision data X X Factory reset excluding Vision data Popup Message English Please connect the vision camera and proceed with factory reset ...

Page 231: ...to return to the previous screen To configure the screen saver mode follow these steps 1 Tap the Settings button on the main menu and select Screen Saver 2 Screen saver use can be configured in the Screen Saver Setting screen The default setting is Use Screen Saver 3 This configures the time required to elapse before entering the screen saver mode Default 5 minutes Minimum Time 1 minute Maximum Ti...

Page 232: ...ual v2 6 1 232 12 12 Idle Servo Off If the robot is idle for a certain amount of time the robot is automatically set to the Safety Off state The default value is 5 minutes and the time can be changed to a time the user prefers ...

Page 233: ...to measure from the friction calibration start position according to the angle limit range It is recommended to include the robot operation range as much as possible 5 Tap the Auto Calculate button 6 Tap the Motion Check button of the auto measure motion check popup window Auto measure motion check is performed in sequential order of axes selected after the entire axis moves to the start position ...

Page 234: ...otion problems or various other issues caused by failing to comply with this condition 12 14 KT Smart Factory Setting Screen This screen sets the KT Smart Factory function 1 Tap the Settings button and select KT Smart Factory 2 Enter values according to the validation of each item 3 Items required are IP address port value Device ID Device Password Gateway ID and transmission frequency 4 Pressing ...

Page 235: ...e each of them is overwritten with the item Task and Modbus to be restored If an identical system parameter name is present the restore process cannot proceed If the maximum allowed number of additions for working space tool weight tool shape watermark user coordinates end effector and system parameter items are exceeded the restore process is stopped Item Maximum Number of Additions Workspace 10 ...

Page 236: ...companies downloaded through Doosan Mate can only be restored to robot models that the corresponding item was created Items that support all and individual data add ons are as follows Items registered in Workcell Manager excluding items with default settings in which additional registrations cannot be performed System Parameters Task Builder Task file Task Writer Task file Setting Modbus Items tha...

Page 237: ... up individual data Select checkboxes for data items for backup and press the Backup button 5 Select the directory to save To restore data follow these steps 1 Tap the Settings button and select Backup Restore 2 Press the Restore menu 3 Choose whether to restore data with add on or with overwriting 4 Press the Restore button 5 Select the file to be restored from the Select File pop ups 6 When rest...

Page 238: ...ufacturer version and status Installed skills and workcells can be deleted When deleting an installed skill or workcell detailed information of the item to be deleted is displayed New items can be installed and executed Multiple items can be selected to be installed Rebooting after installation is required to ensure proper execution If a skill or workcell used by a task are deleted the correspondi...

Page 239: ...4 are pressed the LED turns on to indicate the pressed state Function F1 F4 The button that applies the digital signal allows the user to use the input of the button for the desired role on the DRL Home The button for performing homing and mastering that operates only in manual mode You have to keep the button pressed to perform the function In this case LED will turn on When homing and mastering ...

Page 240: ...enever the proram is stopped Pause The button that pauses the running task program While the program is paused the LED is always on Reset If Protective Stop that cause the transition to Interrupted state occurred a yellow protective stop popup is displayed on teach pendant If this button is pushed after removing the cause of protective stop the robot state chages to normal standby state Manual Sta...

Page 241: ... 13 2 Smart Pendant Robot LED Color The Smart Pendant Flange LED uses the same color as the robot status LED Refer to 3 4 4 Status and Flange LED Color for Each Mode for the LED colors of each robot status ...

Page 242: ...3 3 J5 degree 360 360 135 135 360 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 150 150 0 150 150 10 J2 degree s 0 150 150 0 150 150 10 J3 degree s 0 180 180 0 180 180 10 J4 degree s 0 225 225 0 225 225 10 J5 degree s 0 225 225 0 225 225 10 J6 degree s 0 225 225 0 225 225 10 Robot TCP Limits Force N 0 800 162 0 800 81 Power W 0 1600 650 0 1600 120 S...

Page 243: ...60 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 120 120 0 120 120 10 J2 degree s 0 120 120 0 120 120 10 J3 degree s 0 180 180 0 180 180 10 J4 degree s 0 225 225 0 225 225 10 J5 degree s 0 225 225 0 225 225 10 J6 degree s 0 225 225 0 225 225 10 Robot TCP Limits Force N 0 550 144 0 550 72 Power W 0 1600 600 0 1600 100 Speed mm s 0 8000 2000 0 8000 1500 M...

Page 244: ...360 135 135 360 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 100 100 0 100 100 10 J2 degree s 0 100 100 0 100 100 10 J3 degree s 0 150 150 0 150 150 10 J4 degree s 0 225 225 0 225 225 10 J5 degree s 0 225 225 0 225 225 10 J6 degree s 0 225 225 0 225 225 10 Robot TCP Limits Force N 0 500 108 0 500 54 Power W 0 1600 600 0 1600 100 Speed mm s 0 8000 2...

Page 245: ... 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 150 150 0 150 150 10 J2 degree s 0 150 150 0 150 150 10 J3 degree s 0 180 180 0 180 180 10 J4 degree s 0 225 225 0 225 225 10 J5 degree s 0 225 225 0 225 225 10 J6 degree s 0 225 225 0 225 225 10 Robot TCP Limits Force N 0 400 96 0 400 48 Power W 0 1600 300 0 1600 80 Speed mm s 0 7000 2000 0 7000 1000 M...

Page 246: ...360 360 135 135 360 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 180 180 0 180 180 10 J2 degree s 0 180 180 0 180 180 10 J3 degree s 0 180 180 0 180 180 10 J4 degree s 0 360 360 0 360 360 10 J5 degree s 0 360 360 0 360 360 10 J6 degree s 0 360 360 0 360 360 10 Robot TCP Limits Force N 0 450 200 0 450 100 Power W 0 2000 600 0 2000 100 Speed mm s 0 7...

Page 247: ... 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 180 180 0 180 180 10 J2 degree s 0 180 180 0 180 180 10 J3 degree s 0 180 180 0 180 180 10 J4 degree s 0 360 360 0 360 360 10 J5 degree s 0 360 360 0 360 360 10 J6 degree s 0 360 360 0 360 360 10 Robot TCP Limits Force N 0 600 300 0 600 150 Power W 0 2000 1100 0 2000 180 Speed mm s 0 8000 2000 0 8000 15...

Page 248: ...360 135 135 360 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 100 100 0 100 100 10 J2 degree s 0 80 80 0 80 80 10 J3 degree s 0 100 100 0 100 100 10 J4 degree s 0 180 180 0 180 180 10 J5 degree s 0 180 180 0 180 180 10 J6 degree s 0 180 180 0 180 180 10 Robot TCP Limits Force N 0 1200 243 0 1200 122 Power W 0 1600 800 0 1600 650 Speed mm s 0 2500 20...

Page 249: ...0 360 135 135 3 3 J6 degree 360 360 360 360 360 360 360 360 3 3 Joint Speed Limits J1 degree s 0 80 80 0 80 80 10 J2 degree s 0 80 80 0 80 80 10 J3 degree s 0 80 80 0 80 80 10 J4 degree s 0 180 180 0 180 180 10 J5 degree s 0 180 180 0 180 180 10 J6 degree s 0 180 180 0 180 180 10 Robot TCP Limits Force N 0 1200 243 0 1200 122 Power W 0 1600 800 0 1600 650 Speed mm s 0 2500 2000 0 2500 1500 Momentu...

Page 250: ...et up requires specialized knowledge regarding welding In particular electrical insulation and organized surroundings are essential conditions to be confirmed prior to welding work The right side of the flow chart below shows the functional menus offered by Doosan Robotics welding function Please use the simplified image for easy reference regarding welding features Please refer to the welding tec...

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