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Doosan Robotics User Manual v1.9

96

7.5.5

Tool Center Point Setting based on Other End Effectors

When using a symmetrical double gripper, the TCP of an end effector is configured based on the other
well-configured end effector. The TCP position of a new end effector can be easily configured by
rotating the pose and 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

Auto Calculate

button on the bottom, check whether the calculated TCP is

automatically entered and tap the

Confirm

button.

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Содержание M0609

Страница 1: ...Manual Version 1 9 Software Version 2 5 ...

Страница 2: ...1 5 Emergency Stop Button A Series 16 1 6 System Configuration 17 2 Safety 19 2 1 Safety Indications of User Manual 19 2 2 Precautions for Use 20 2 3 Types of Stop Modes for Safety 22 2 4 Emergency Stop 23 2 5 Other Safety Functions 25 2 6 System Power Cut Off 26 3 Starting Up the Robot 27 3 1 System Power Up 27 3 2 DIP Switch Setting A Series 31 3 3 Booting and Disengaging Packing Position 32 3 3...

Страница 3: ... 5 System Operation Program Outline 45 5 1 Status Display Area 46 5 2 Work Screen Area 46 5 3 Main Menu 47 6 Home Screen Overview 49 6 1 Task Execution and Stopping 51 6 2 Load Saved Tasks 52 6 3 Tool Setting 53 7 Workcell Manager 55 7 1 What is a Workcell Item 55 7 2 Add Workcell Item 57 7 3 Deprecated Workcell Item 58 7 4 Robot Setting 60 7 4 1 WorldCoordinatesSetting 62 7 4 2 RobotLimitsSetting...

Страница 4: ...andTools 90 7 5 2 EndEffectorI OSignalSetting 92 7 5 3 EndEffectorI OTesting 93 7 5 4 ToolRotationAngle A B C withinToolCenterPointSetting 94 7 5 5 ToolCenterPointSettingbasedonOtherEndEffectors 96 7 6 Machine Tool Setting 98 7 7 Peripheral Setting 99 7 7 1 Others 101 7 7 2 Vision 101 8 Task Builder 102 8 1 Task Management 102 8 1 1 CreateNewTask 102 8 1 2 Template 102 8 1 3 SaveTask 103 8 1 4 Sav...

Страница 5: ...ationtab 124 8 8 3 RealModeScreen I OInformationTab 127 8 8 4 ExecuteTask 129 9 Task Writer 130 9 1 Task Management 130 9 1 1 CreateNewTask 130 9 1 2 SaveTask 130 9 1 3 SaveTaskAs 130 9 1 4 SaveTaskonExternalStorageDevice 131 9 1 5 LoadSavedTasks 131 9 1 6 DeleteSavedTasks 131 9 1 7 ImportTasksonExternalStorageDevices 131 9 1 8 ExportTasktoExternalStorageDevice 132 9 2 Edit Task Program 134 9 3 Ta...

Страница 6: ...n 159 11 2 1 MovingwithAngleSetting 159 11 2 2 MovewithBaseReferenceCoordinates 160 11 2 3 MovewithWorldCoordinatesReferenceCoordinates 161 11 2 4 MovewithToolReferenceCoordinates 161 11 3 Setting Screen 162 11 3 1 AlignmentbasedonBaseAxis WorldAxis 163 11 3 2 GotoHome 164 11 3 3 AlignmentbasedonTarget 164 11 3 4 AlignmentbasedonWorkcellItems 165 12 Environment Setting 167 12 1 Language Setting 16...

Страница 7: ... 9 2 ExtractLog 180 12 10 Factory Reset 181 12 10 1 DeleteLog 181 12 10 2 LicenseTypeandFactoryResetRangeaccordingtoVisionConnection 181 12 11 Screen Saver Mode Setting 182 12 12 Idle Servo Off 183 12 13 Friction Calibration 184 12 14 KT Smart Factory Setting Screen 185 12 15 Backup Restore 186 Annex A Control Box for AGV 187 A 1 Product Introduction 187 A 1 1ControlBoxOverview 187 A 1 2SystemConf...

Страница 8: ...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...

Страница 9: ...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 ...

Страница 10: ...lange 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 3 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 ...

Страница 11: ... 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 3 Status and Flange LED Color for Each Mode 5 Connector Used for supplying power to and communication of the robot ...

Страница 12: ...r peripherals 2 Teach pendant cable connection terminal Used to connect the teach pendant cable to the control box 3 Power switch Used to turn ON OFF the main power of the control box 4 Robot cable connection terminal Used to connect the robot cable to the control box 5 Power connection terminal Used to connect the control box power supply 2 1 4 3 5 ...

Страница 13: ...ency stop button or smart pendant cable to the control box 3 Teach pendant cable connection terminal Used to connect the teach pendant cable to the control box 4 Robot cable connection terminal Used to connect the robot cable to the control box 5 Power connection terminal Used to connect the control box power supply 6 Power switch Used to turn ON OFF the main power of the control box ...

Страница 14: ...each pendant 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 ...

Страница 15: ...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...

Страница 16: ...Doosan Robotics User Manual v1 9 16 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 ...

Страница 17: ...he robot specific poses and setting robot and control box related settings Control Box 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 transport or assembly tasks with various tools 000 000 ...

Страница 18: ...e 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 programs purchased separately as an option Emergency Stop Button If a laptop is used as par...

Страница 19: ...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 ...

Страница 20: ...e used if risk assessment approves its use If an error occurs on the control box or the teach pendant activate the emergency stop function identify the cause of the error find the error code on the log screen and contact the supplier Caution Take caution of the robot s movement when using the teach pendant Failure to do so may lead to colliding with the robot resulting in damage to the robot or in...

Страница 21: ...21 For information about additional modules refer to corresponding manuals ...

Страница 22: ... function and setting the Servo On For more information about servo on methods refer to 147 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...

Страница 23: ...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 ...

Страница 24: ...cy stop must not be used as a risk reduction method but as a secondary protection device 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...

Страница 25: ...ion and angle of the robot For more information about Safety Recovery Mode refer to 10 7 Safety Recovery Mode Zero Gravity Motion 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 Zero Gravity Motion mode the user can engage or disengage the brake of...

Страница 26: ...6 System Power Cut Off A power switch is installed on the bottom of the control box to cut off system power Before cleaning or servicing the robot or control box or before disassembling the system cut off system power using the power switch ...

Страница 27: ...tton on the upper left of the teach pendant The power for systems such as the robot control box and teach pendant is turned on 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 control box ...

Страница 28: ... Robotics User Manual v1 9 28 Press the power button at the bottom of the control box The power for systems such as the robot control box teach pendant and smart pendant is turned on PC Power ON OFF only when ...

Страница 29: ...located below the bottom right of the Safety board To turn off the power press and hold the button PC Power ON OFF when Teach Pendant is used Optional Item 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 ...

Страница 30: ...en Smart Pendant is used Optional Item Press and hold the power button on the upper left of the smart 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 control box ...

Страница 31: ...t will not operate properly The DIP switch is located on the bottom left of the board inside the control box door refer to below Configure the setting according to the components as follows Upon first receiving the setting is configured as Case 1 Case 1 Use of Teach Pendant or Smart Pendant or Emergency Stop Button Case 2 Use of Smart Pendant or Emergency Stop Button Case 3 Use of Teach Pendant on...

Страница 32: ...e 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 ...

Страница 33: ...3 Select the Packaging Mode tab 4 Tap the Servo On button 5 The robot status display on the bottom right of the screen changes from Safety Off to Recovery 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 moves to the home position When the robot is in the home position it does not move an...

Страница 34: ...v1 9 34 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 ...

Страница 35: ... O setting of the system operation program In this case the Enable Switch must be set in the center position to allow robot operation in Manual Mode and to turn on the servo In Manual Mode it is possible to configure robot peripherals in the Workcell Manager or to program robot tasks in the Task Builder and Task Writer and if the robot cannot be operated normally for reasons such as the robot exce...

Страница 36: ... Stop SOS Yellow Flashing Recovery Jog The jogs of each axis can be used to correct the exceeded safety threshold Yellow Flashing Recovery Handguiding The manipulator can be moved directly by hand to correct the exceeded safety threshold Yellow Flashing Safety Stop The system stopped due to protective stop or exceeding the safety threshold It monitors the stop status with Safe Operating Stop SOS Y...

Страница 37: ... the Handguiding button It monitors the stop status with Safe Operating Stop SOS Cyan Handguiding The robot pose can be changed by pressing the Handguiding button After the robot stops enter Auto Handguiding Finish through the Safety IO to set Auto Operating and then continue executing the task program Cyan Flashing Auto measure The weight center point of the end effector is measured automatically...

Страница 38: ...eration rate in the collaborative work space For more information about the collaborative work space refer to 7 4 12 Collaborative Work Space Setting Protection Section If an object breaches the section set as the protection section the robot stops according to the Safety Stop mode setting For more information about the protection section refer to 7 4 13 Protection Section Setting Disable Collisio...

Страница 39: ... external force is applied If a tool is installed on the tool flange configure the tool weight on the Workcell Manager and Jog screens on the teach pendant before changing the robot pose If the Hand guiding button is pressed without configuring the tool weigh the robot may move abruptly 4 2 1 Teach Pendant Hand Guiding Button The user can change the robot s pose while holding down the Hand guiding...

Страница 40: ...kpit No Item 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 ...

Страница 41: ...ngle Lock Changes 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 ...

Страница 42: ...ed to adjust or change the 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 ...

Страница 43: ...ork Point Setting with Cockpit Buttons 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 pre drive 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 nex...

Страница 44: ... 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 Wr...

Страница 45: ...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 ...

Страница 46: ... be operated robot settings can be changed or motions can be tested In Operation In this status the robot is operating and robot settings cannot be changed Safety Off The power to the motor and brake are cut off and the robot has stopped Safety Stop The robot has stopped due to an error or safety issue so stop the current work and check the robot Emergency Stop the robot has stopped due to the act...

Страница 47: ... the status refer to 0 Debug Screen Jog The robot can be moved to or aligned with a specific point 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 ...

Страница 48: ... User Manual v1 9 48 When transferring control between Windows and Teach Pendant from the same screen the information saved on one screen is not automatically reflected in the other device until reloading is performed ...

Страница 49: ...item setting screen of the Workcell Manager For more information about the robot refer to 7 4 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 end effectors refer to 7 5 End Effector Setting Machine Displays the number of machines used in the task Tap this ite...

Страница 50: ...Doosan Robotics User Manual v1 9 50 Item Description Work Status Displays the target number work count and time of the current task The information displayed can be selected using checkboxes ...

Страница 51: ...ask 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 ...

Страница 52: ...from the Home screen 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 ...

Страница 53: ...s 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 ...

Страница 54: ...orkcell item from 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 ...

Страница 55: ...ain patterns and actions The combination of skills available change according to the configured Workcell Items and in certain conditions Task Builder can recommend a suitable task template 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 C...

Страница 56: ...chine 4 Peripherals Peripherals connected to the robot can be added and the added peripheral is displayed Pallet Pattern Air blower Conveyor Stocker Shooting bolt feeder Laser scanner 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 Wor...

Страница 57: ... of each Workcell displayed on the initial screen of the Workcell Manager to display 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 ...

Страница 58: ...nal motion improvements 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 ...

Страница 59: ...59 Tapping the Edit button cannot edit the setting but deletion is possible ...

Страница 60: ...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 ...

Страница 61: ...61 No Item Description 9 Delete Deletes the current Workcell 10 Confirm Saves the Workcell settings ...

Страница 62: ...e 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 2 Please refer to the figure depicting the relationship between the World Coor...

Страница 63: ... values X Y Z mean movement and the values A B C mean rotation based on the definition of Euler Z Y Z If the mounting pose is defined according to the robot s installation pose it is appropriate to use the rotation angle of B C as the mounting pose B C However if the mounting pose is set using the Auto assumption function the assumed value may contain a deviation so it recommended to use the rotat...

Страница 64: ...ctions Note The limit and initial safety settings may vary according to the robot lineup Safety limits is the condition where the safety rated monitoring function triggers the stop function When stop is completed the position of the robot and force applied externally may differ from the configured safety threshold ...

Страница 65: ...force level applied to the tool center point TCP 2 Power W It can limit the mechanical power level of the robot 3 Speed mm s It can limit the speed of the tool center point TCP 4 Momentum kg m s It can limit the momentum size of the robot 5 Collision It configures the collision detection sensitivity 6 Default Value It resets the TCP Robot Limits settings to default values 7 Confirm It saves the cu...

Страница 66: ...cell 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 3 Confirm It saves the current Workcell 1 2 3 ...

Страница 67: ... 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 3 Confirm It saves the current Workcell 1 2 3 ...

Страница 68: ...m the speed set in the task The reduction ratio can be adjusted using the Speed Reduction Ratio slide bar If a signal is detected within a collaborative workspace the robot is operated at the smaller speed reduction ratio slower between the main speed reduction ratio and the collaborative workspace speed reduction ratio 3 Pos Enable Switch H This is operation permission equipment that is used to c...

Страница 69: ...top situation occurred Normal Speed L High Deceleration in operation Low Robot is operating at the speed set by the task program Reduced Speed L High Robot operating at normal speed Low The robot is located outside the collaborative workspace or is operating at reduced speed due to external deceleration mode signal input Auto Mode L High The robot is currently not in Auto Mode Low The robot is cur...

Страница 70: ...sed to notify the user of a situation where emergency stop is required such as when the Emergency Stop Button is pressed external Emergency Button is pressed or self diagnosis defect is detected during Remote Control Mode High Normal operation Low Emergency stop required Task Operating High Task is in operation Low Task is not in operation ...

Страница 71: ...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 area set by Robot of the Workcell Manager can be set It also determines whether the robot position is within the operation area whether the robot violates the prohibited area or whether the TCP is within the collaborative workspace standalone workspace d...

Страница 72: ...g installation 4 Delete Deletes the current Workcell 5 Confirm It saves the current Workcell 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 insta...

Страница 73: ...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 ...

Страница 74: ...meter 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 number the center of gravity can be a negative real number or 0 Remove all obstacles before executing auto calculate To execute Auto Calcul...

Страница 75: ...75 A Series does not feature Auto Calculate for weight ...

Страница 76: ...Coordinates and it is different from World Coordinates It is possible to set the pose of User Coordinates using the base or World Coordinates and User Coordinates 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 ...

Страница 77: ... 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 4 It is possible to load pallet coordinates from Advanced Options and apply them to User Coordinates points ...

Страница 78: ... Nudge option can be enabled on user defined sections To set Nudge select the 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 A Series which does not feature a Joint Toque Sensor does not have Nudge settings in Advanced options ...

Страница 79: ...eration environment is set as a tilted cuboid shape Enter the reference point Point 1 x axis endpoint Point 2 y axis endpoint Point 3 z axis endpoint Point 4 of the tilted cuboid and tap the Save Pose button 3 lines Point 1 Point2 Point 1 Point 3 Point 1 Point 4 must cross each other at a right angle 5 degree deviation accepted Cylinder The robot operation environment is set as a cylindrical shape...

Страница 80: ... set as a multi plane box shape 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 of the point of the area to configure Polyhedron 삭제 예정 The robot operation environment is set as a polyhedron shape Se...

Страница 81: ...us enter the positions of the center point and endpoint of the sphere and to configure the diameter enter the two endpoints of the sphere and tap the Save Pose button Note When entering the Z axis endpoint the robot body position must be included so the lowest Z axis endpoint must be 0 or a negative value ...

Страница 82: ...ot s work space tap the Add button on the Robot Workcell and select Work Space Cuboid Cylinder or Polyhedron type 1 Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Enter the pose information according to the work space 3 Tap the Confirm button ...

Страница 83: ...int 1 item of Plane 1 4 Place the robot TCP on another point on the first line 5 Tap the Save Pose button of Point 2 6 Tap the toggle button of Plane 1 to enable plane 1 7 A plane composed of the first straight line appears in the simulator To configure the second plane enter the positions of Point 1 and Point 2 of Plane 2 When entered tap the toggle button to enable Plane 2 8 Tap the toggle butto...

Страница 84: ...ed with Nudge input To enable Nudge input tap the Nudge toggle button 12 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 A Series which does not feature a Joint Toque Sensor does not have Nudge settings in Advanced options ...

Страница 85: ...uboid Multi angular Prism or Sphere type The Safety Password is required during setup 1 Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Enter the pose information according to the set geometry type 3 Tap the Confirm button to save 4 Press the activate toggle button to apply the protection section ...

Страница 86: ...tivity values can also be entered directly in the cell on the right side of the slider bar 3 Enter the pose information according to the set geometry shape 4 To adjust the disable collision detection section according to the safety I O input signal select a port number from Safety I O items in Advanced Options Select Do not use to disable the function Warning If safety I O is selected the collisio...

Страница 87: ...up 1 Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Set the pose information according to work space Valid Space and Section Margin 3 Set the Tool Center Point Robot Limit Safety Stop Mode andEnable Dynamic Section in the Properties tab and press Confirm 4 Press the activate toggle button to apply the collaborative workspace 7 4 17 Collision Preventi...

Страница 88: ...ction Change Limit Section Cuboid Cylinder Multi plane Box Sphere or Tilted Cube type The Safety Password is required during setup 1 Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen 2 Set the pose information according to work space Valid Space and Section Margin 3 Set the TCP Direction Limit and Enable Dynamic Section in the Properties tab and select Co...

Страница 89: ...ol Center Point Robot Limit Safety Stop Mode TCP Direction Limit Enable Dynamic Section Nudge Option Joint Angle Speed Limit and Joint Angle Limit in the Properties tab and press Confirm 5 Press the activate toggle button to apply the custom section ...

Страница 90: ...e 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 ...

Страница 91: ... 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 Tools include a screwdriver gluing tool deburring tool and polish and air blow nozzle and there is also a custom tool setting function to allow the use of other user tools Config...

Страница 92: ... 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 Connect the end effector port to the robot flange or control box 4 Select the I O signal type and select the I O port number 5 Tap the Confirm button ...

Страница 93: ...tor follow the procedure below 1 Select the end effector to test and tap the Edit button 2 Tap the Operate button to test the output signal 3 Check whether the end effector receiving the output signal operates normally Note If the input signal is entered properly a green indicator lights up ...

Страница 94: ...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 axis direction defined at the end of the flange is identical to the robot...

Страница 95: ...ring 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 R...

Страница 96: ... 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 Auto...

Страница 97: ...97 Note The configuring end effector and base end effector must be symmetrical on the tool Z axis ...

Страница 98: ...erials 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 Molding Machine Injection 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 sett...

Страница 99: ...izes items in stacks Pick up Bolt Feeder This is a device that supplies bolts for screwdriving Linear Pattern This is a pallet that organizes items in a linear pattern Others Button This is a device that sends On Off signals External Encoder Externally installed Encoder Setting Safety Equipment These are equipment that enhance user safety such as safety mats and laser curtains Vision Smart Vision ...

Страница 100: ... Coordinate Select the base coordinates of the pallet 4 Save Pose Saves the coordinate corresponding to the current robot pose 5 Move Moves the robot to the coordinates entered below Enter the coordinates below and press and hold the Move button 6 Reset Resets the robot coordinates to the default values 7 Delete Deletes the current Workcell 8 Confirm Saves the Workcell settings 1 2 3 5 6 7 8 4 ...

Страница 101: ...sition are entered as Point 1 6 Move the robot TCP to Point 2 of the pattern guide and tap the Save Pose button of Point 2 Enter the coordinates of Point 3 of the pattern guide the same way 7 Tap the Confirm button 7 7 1 Others The others category includes Button The others category settings are similar to those of the gripper settings For more information about the others category refer to the se...

Страница 102: ...ove the selected item to the list 3 After selecting a Workcell item tap Next 4 Enter the name of the new task program in the File Name field 5 Tap the Confirm button When a new task is created the task edit screen is displayed For more information on how to edit a task refer to 8 4 Edit Task 8 1 2 Template A template is a bundle of skills that compose a work procedure used with a combination of Wo...

Страница 103: ...t to an existing file 8 1 4 Save Task As To save the 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 8 1 5 Editing Workcell Items To view a Workcell item selected from the current task or to select or remove an addi...

Страница 104: ...e 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 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 8 1 8 Delete Saved Tasks To delete a saved task follow th...

Страница 105: ...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 5 Load Saved Tasks ...

Страница 106: ...e 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 does not move along a straight line...

Страница 107: ... 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 Comment This is used to save the user designated information in a log during task execution Custom Code This is used to insert and execute a DRL code during task execution Define This is used to define a variable du...

Страница 108: ...nfigure jobs related to the Workcell Item without complicated programming To use command skills it is necessary to configure the work and related Workcell items For more information about skill command list and configurations refer to the manual provided separately In models without Force Toque Sensors Rx Ry and Rz values of Weight Measure Nudge Compliance commands and A B and C values of Force co...

Страница 109: ... 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 with an updated skill...

Страница 110: ...Jog and Settings screens are displayed as popup windows For more information about the Status Jog and Settings popup windows refer to Note Robot Work Status List Check the robot status shown in the status display area The information can be used as a reference when performing work using the robot Standby In this status the robot can be operated robot settings can be changed or motions can be teste...

Страница 111: ...e the corresponding command from execution during task execution 2 Task List Displays the task order and a list of commands added from the Command tab When a task is created GlobalVariables MainSub and EndMainSub commands are added automatically 3 Command Displays a list of commands to add to the Task List Selecting a command will add it to the Task List 4 Property Check and edit the settings of t...

Страница 112: ...s performed with a variable registered in the Variable tab the value change frequency may be too fast to display the value on the screen 8 4 2 Add 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 8 4 3 Delete Command To delete a command fo...

Страница 113: ...113 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 ...

Страница 114: ...ng 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 se...

Страница 115: ...save the robot tool position If necessary define a variable using GlobalVariables or the Define command 8 6 2 Speed Setting The default speed is the speed configured for all areas If the speed property is set as All Areas it operates with the speed set in the MainSub property Tap the Local tab and set the velocity property to Local to designate the velocity to be applied to the command individuall...

Страница 116: ...e target point of the next motion command Overlap When the robot reaches the 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 ...

Страница 117: ...ther 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 robot tool position 4 Repeat steps 1 3 to add segments ...

Страница 118: ...cally 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 move to the Approach Pose It is set in the Z direction from the Approach Pose ...

Страница 119: ...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 automatically calculated for the Action Pose and moves to the corresponding point ...

Страница 120: ...int and the Action Start Pose is the point where the work starts e g Door Open Skill Start Pose Screw Drive Skill Start Pose Move to Action 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 e g Door Open Skill End Pose Screw Drive Skill End Pose ...

Страница 121: ...he 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 Collision Detection must be disabled Be careful when using this function as excessive force can be generated when conta...

Страница 122: ...alue of the Translation X Y Z direction can be modified 8 7 3 Skill Command Work Point Setting with Cockpit Buttons Cockpit buttons can be used to configure the action 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 ...

Страница 123: ... Auto mode When entering manual mode on the Play tab go to the Command tab or Properties 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 test the task i...

Страница 124: ...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 skill 8 8 2 Real Mode Screen End Effector Information tab The real mode screen end effector information tab of Task Builder is structured ...

Страница 125: ...ht information configured through the tool center point and weight configuration functions of the set TCP command or the jog 8 Collision information area Displays the collision sensitivity value set for the area where the robot is currently positioned 9 Force information area Displays the force information according to the tool direction 10 Speed slider It sets the speed of the robot in a real or ...

Страница 126: ...Doosan Robotics User Manual v1 9 126 In the case of models without Force Toque Sensor the force X Y Z values are not monitored ...

Страница 127: ...ft 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 information of the controller and the flange 6 Controller digital I O signal Displays the controller digital I O signals of the curr...

Страница 128: ...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 ...

Страница 129: ... mode is off execution is 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 o...

Страница 130: ... 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 Name field 3 Tap the Confirm button When a new task is created the task edit screen is displayed For more information on how to edit a task refer to 8 4 Edit Task 9 1 2 Save Task To save an edited task tap the Menu butt...

Страница 131: ... 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 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 9 1 6 Delete Saved Tasks To delete a saved task follow these steps 1 Tap...

Страница 132: ...e Complete window appears To load a task file saved on the system refer to 9 1 5 Load Saved Tasks 9 1 8 Export Task to External Storage Device To export a task to an external storage device follow these 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 expo...

Страница 133: ...133 4 The Save As popup window appears Enter the task name in the popup window and tap the Confirm button ...

Страница 134: ... the property screen of the command added in the task list 10 all area variables and all area poses 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 locate...

Страница 135: ...nts 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 execution Flow Contro...

Страница 136: ...mpliance 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 Comment This is used to save the user designated information in a log during task execution Custom Code This is used to insert and execute a DRL code during task execution Define This is used to defi...

Страница 137: ...til Nudge applying force to the robot input In models without Force Toque Sensors Rx Ry and Rz values of Weight Measure Nudge Compliance commands and A B and C values of Force command are not supported The Watch Process Button command provides functions to control conditions using the Function button of the Process button ...

Страница 138: ...Doosan Robotics User Manual v1 9 138 9 4 Setting and Applying Command Properties Configuring and applying the commands in Task Writer are identical to those of Task Builder ...

Страница 139: ...139 9 5 Execute Task Program The execution of task programs in Task Writer is identical to that of Task Builder ...

Страница 140: ... task and stops 3 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 St...

Страница 141: ...ation of devices connected to the control box and flange and the Zero Gravity Motion mode and Safety Recovery function can be executed The Status window is a popup window so it is possible to tap the Status button on the Home Task Builder or Task Writer screen even during Auto mode to check I O information The output test cannot be performed during Auto mode ...

Страница 142: ...e 3 Servo On Supplies the driving power that moves each joint of the robot 4 I O Manages the digital and analog I O status of the control box and flange 5 I O Test Checks and tests the digital and analog I O devices of the control box and flange used by the task 6 Modbus Test Tests the signals of the set Modbus device 7 Job Space Status Value Displays encryption of the entire job space data regist...

Страница 143: ...igh 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 input of A Series are displayed 10 2 2 Control Box Analog Input Check 1 Press the drop down list of the analog input of the control box to select the item to check 2 Check the analog input information of the selected item displ...

Страница 144: ...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 10 2 4 Control Box Analog Output Setting 1 Press the drop down list of the analog output of the control box to select the item to set Analog output information of the selected item is displayed on the right side of the drop down...

Страница 145: ... 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 ...

Страница 146: ...tem Description 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 ...

Страница 147: ...rated 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 the screen Note I...

Страница 148: ... as OFF Release and move the robot by applying 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 zero gravity motion the brakes of all joints are applied auto...

Страница 149: ...y 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 Packaging Mode For pac...

Страница 150: ...right side of the Software Recovery screen 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 Using Cockpit Buttons 4 2 2 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 the to...

Страница 151: ...he Packaging Mode tab 6 Tap the Packaging Mode toggle button to enable Packaging Mode 7 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 ...

Страница 152: ...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 Settings tab screen Note On the Settings screen if ...

Страница 153: ... 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 the Jog tab...

Страница 154: ...e Workcell Manager in the Jog 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 th...

Страница 155: ...ed 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 ...

Страница 156: ...ps 1 Select the Task 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 ...

Страница 157: ... 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 ...

Страница 158: ...eps 1 Select the Task tab on the Jog screen 2 Select 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 Z Z X X Y Y ...

Страница 159: ...te 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 in manual mode The speed can be adjusted by dragging the slider pointer If the slider pointer is at 100 the ...

Страница 160: ...tton to adjust the robot joint angle 11 2 2 Move with Base Reference Coordinates To move the robot 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 ...

Страница 161: ...ates 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 11 2 4 Move with Tool Reference Coordinates 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 t...

Страница 162: ...ignment reference can be set on the Setting screen No Item Description 1 Default Motion 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 ...

Страница 163: ...ordinates 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 Settings tab and select the Default Motion tab 2 Select the reference coordinates for alignment 3 Select the reference tool axis 4 Select the al...

Страница 164: ...ith the TCP in an axis direction for workpiece teaching 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 target follow these steps 1 Select the Settings tab and select Align with Target tab 2 Select the reference coordinates for alignment 3 Select the tool axis to align 4 Move the robot to the desi...

Страница 165: ...is direction 11 3 4 Alignment based on Workcell Items Aligns the robot TCP based on the Workcell item 1 Select the Setting screen and select the Alignment based on the Workcell Items tab 2 Select the desired item from the Workcell Item 3 Tap and hold the Align Axis button to align the axis Note Alignment direction is determined based on whether the instruction order for the three points instructed...

Страница 166: ...Doosan Robotics User Manual v1 9 166 ...

Страница 167: ...s 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 program change to U S...

Страница 168: ...low these steps 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...

Страница 169: ...tton 2 must be different 12 3 3 Remote Control Setting 1 Select the Remote Control menu in the Robot Setting menu The current setting information is displayed in 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...

Страница 170: ...Control menu in the Process Button Setting menu The current setting information is displayed in the setting management window 2 Set the Use Process Button toggle to ON If the system is restarted with the use process button set to ON it boots up in remote control mode 3 Select Task It is the task to be used in process button mode 4 Click the Confirm button and click the Start Process Button button ...

Страница 171: ...n 4 Homming Signal When the homming button of the Process Button is pressed the indicator is displayed as Checked green 5 Servo On Off Signal Displays the Servo On Off status 6 Function Button Signal Indicators of P1 P4 press status 7 Process Button Task Area displaying the task to be used by the Process Button 8 Total Time Total Task play time 9 Total Count Count of Task loops 10 Average Cycle Ti...

Страница 172: ... 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 Process Button mode ...

Страница 173: ...k icon follow these steps 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 ...

Страница 174: ...n Off button A screen 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 adm...

Страница 175: ...bus setting to be used with some Workcell Items can be configured 3 Select the network method and tap the Confirm button 12 6 1 Modbus TCP RTU Setting 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 ...

Страница 176: ...e corresponding Signal Address The ModbusRTU Master function from Doosan Robotics allows the use of most functions previously provided by ModbusTCP Master in the same capacity 1 In the Setting Network of the teach pendant select the Modbus RTU menu and tap the Add Modbus Slave button 2 Enter the IP address of the slave device and set the Port default 502 3 Tap add Signal and then set the Signal Ty...

Страница 177: ...pdate 3 Tap the Update button on the teach pendant and control box 4 When the update window appears tap the Search button 5 Select the update file from the searched list 6 Tap the Update button 7 When the update is complete restart the system Caution Do not remove the external storage device or turn off the system during the update This may damage the robot or cause malfunctions If the system is a...

Страница 178: ...menu The last five versions installed on the robot system are displayed The current version is displayed with the Radio button 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 If the system is accessed via Windows the system restore function is not available ...

Страница 179: ...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 ...

Страница 180: ...p the Settings button and select Log 12 9 1 System Log System log messages of the robot can be checked Search can be made in units of 1 month and logs can be deleted 12 9 2 Extract Log Logs created during robot operation can be saved on a USB storage media Search can be made in units of 1 week ...

Страница 181: ...ogs 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 12 10 2 License Type and Factory Reset Range according to Vision Connection Vision License Status Vision Connection Status Details Remarks O O Factory reset including Vision data Vision Category of WCM screen retained O X A Vision Connection related pop...

Страница 182: ...he screen saver 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 m...

Страница 183: ...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 ...

Страница 184: ...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 Auto measure motion check stops when the stop button is tapped 7 After auto measure motion check tap the Auto Ca...

Страница 185: ...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 the Confirm button applies the entered values ...

Страница 186: ...f TB and TW Settings cockpit remote control teach pendant smart pendant Modbus TCP Modbus RTU screen saver idle servo off To backup data follow these steps 1 Tap the Settings button and select Backup Restore 2 Tap backup checkboxes of all data and then tap the Backup button 3 Select the directory to save To restore data follow these steps 4 Tap the Settings button and select Backup Restore 5 Tap t...

Страница 187: ...he control box or peripherals 2 Power switch Used to turn ON OFF the main power of the control box 3 Teach pendant cable connection terminal Used to connect the teach pendant cable to the control box 4 Robot cable connection terminal Used to connect the robot cable to the control box 5 Power connection terminal Used to connect the control box power supply ...

Страница 188: ...able of teaching the robot specific poses and setting robot and control box related settings Control Box 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 transport or assembly tasks with various to...

Страница 189: ...Power Cut Off A power switch is installed on the top of the control box to cut off system power Before cleaning or servicing the robot or control box or before disassembling the system cut off system power using the power switch ...

Страница 190: ...Doosan Robotics User Manual v1 9 190 ...

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