Doosan A0509, User Manual

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Doosan Robotics User Manual v2.6.1 24
2.3 Types of Stop Modes for Safety
The stop modes provided to ensure user safety are as follows:
•
Safe Torque Off (STO) : All Stop Modes corresponding to Stop Category 0 immediately cut off
power and force operation with brake operation only. The brake is used for maintaining the
current pose when driving force is lost (i.e., power off, etc.) not for deceleration. Using STO can
result in brake wear or decelerator durability loss, so it is recommended to use SS1 unless
necessary.
•
Safe Stop 1 (SS1) : All joints are stopped with maximum deceleration by a Stop Mode
corresponding to Stop Category 1, the power supply to the motor is cut off, and the brake is
engaged to stop. Power is cut off after deceleration, and like STO, the robot can be operated
after releasing the stop function and 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 Stop (SOS) is engaged.
•
RS1 : If a collision is detected, Floating Reaction : a function to comply with external force for 0.25
second at the moment collision is detected, is engaged to respond to external force, and Safe
Operating Stop (SOS) is engaged.
•
If SS2 and RS1 mode are set during program execution, select “STOP” or “RESTART” on the
teach pendant screen to stop or restart the program. If the robot end (TCP) is within the
Collaborative Zone and if the Nudge function is enabled, the user can apply force to the robot
directly (Nudge) to restart work. For more information, refer to “
7.5.13 Collaborative Workspace
Setting”