Doosan A0509, User Manual

Page: 41 / 253

41
Mode State Description
Flange and/or
Base LED
Auto
Auto Standby

The Teach Pendant UI is in the actual mode execution
screen in a single work space.

Pressing the "Execute" button will execute the task
program.

White is displayed for a Standalone Zone, green is
displayed for a Collaborative Zone..
White/Green
Auto
Running

The task program is being executed.

White is displayed for a Standalone Zone, green is
displayed for a Collaborative Zone., and white and yellow
are displayed by turns for a High Priority Zone
White Blinking /
Green Blinking
/
ss
White and
yellow Flashing
alternately
HGC
(HandGuide
Control)
Standby

The Handguiding command is executed during task
program execution.

The system waits until the user presses the "Handguiding"
button.

It monitors the stop status with Safe Operating Stop (SOS).
Cyan
HGC Running

The robot pose can be changed by pressing the
"Handguiding" button.

After the robot stops, enter HGC End & Resume signal
through the Safety IO to set Auto Running and then
continue executing the task program.
Cyan Blinking
Auto-measure

The weight and center of gravity point of 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 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 button to
enter the safety recovery mode, and after moving the robot,
Interrupted can be released.

If it is impossible to release the protective stop input from
the Protective Device, press the Safety I/O button to cancel
the protective stop input setting.
Yellow
Servo Off

The servo is off due to emergency, protective stop input,
stop or exceeded safety threshold.

It is identical to Safe Torque Off (STO).

Servo On is possible only when all causes of emergency
stop or protective stop are removed.

If it is not possible to release the safety limit exceeding
without moving the robot, it can be released by moving the
Red (M/H-
Series)
LED Off (A-
Series)