Doosan A0509, User Manual

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Doosan Robotics User Manual v2.6.1 62
4.3 Robot Teaching and Execution
In order to use the robot in the user’s process, the robot space, end effector, machine tools and
peripherals must be configured in the
Workcell Manager first. When Workcell Manager setting is
complete, create a task program using Task Builder or Task Writer , and execute it.
Task Builder displays commands recommended for the peripherals registered using the Workcell
Manager, which allows the user to easily create and execute task programs. It also offers a custom
code function which can load and execute task programs which have been created based on the
Programming Manual.
Task Writer uses DRL (Doosan Robot Language) to create and execute programs suited for the
user’s process, and it also features a Custom Code function 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 teaching a robot, execute teaching using conditions identical to the actual operation (tool
and workpiece weight).

When the robot is swapped, or when task execution condition (tool and workpiece weight) or
the pose change, teaching deviation may occur. In such case, re-teaching is recommended.

If the robot model is swapped, it is recommended that you create a new task program and
execute teaching.
Caution

Make sure to perform a risk assessment before teaching and operating the robot. Doosan
Robotics is not responsible for any consequences due to operating the robot without proper risk
assessment.