Doosan H2017 - Page 42

Doosan Robotics User Manual v2.6.1
42
Mode
State
Description
Flange and/or
Base LED
robot after Servo On in the safety recovery mode screen.
 If it is impossible to release the protective stop input from
the Protective Device, cancel the protective stop input
setting in the Safety I/O setup menu.
Mode
State
Description
Flange and/or
Base LED
-
Backdrive Hold
 All brakes of 6 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 during Backdrive Motion.
 It is identical to Safe Torque Off (STO).
Red (M/H-
Series)
LED Off (A-
Series)
Initializing
 The controller is booting and the robot is initialized.
Red Blinking