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Doosan Robotics User Manual v2.6.1

 The H Series models do not support robot installation pose functions. Installation must be done

on the ground.

 Auto Calculate is not supported in models without Force Toque Sensors.

Main Page

Table of Contents2
Preface10
Copyright10
Open Source Software License Information (OSS)10
Vision License Policy Information10
Product Introduction11
Robot Overview11
Names of each Part11
Key Features12
Controller Overview14
Teach Pendant Overview16
Smart Pendant (A-Series)17
Emergency Stop Button (A-Series)18
System Configuration19
Safety21
Safety Indications of User Manual21
Precautions for Use22
Types of Stop Modes for Safety24
Emergency Stop25
Other Safety Measures27
System Power Cut-Off28
Starting up the Robot29
System Power-Up29
Emergency Stop Button Setting Switch (A-Series)33
Booting and Disengaging Packing Position34
System Booting34
Disengaging Packaging Pose35
Robot Mode and State37
Manual Mode37
Automatic Mode38
Other Mode39
Status and Flange LED Color for each Mode40
Functional Limits of each Robot Series43
Robot Safety Setting46
Safety Limit Setting47
Space Limit and Zone Setting48
Application Recovery Mode Screen49
Using Application Recovery Mode Functions49
Series Compatibility Error Screen51
Series Compatibility Error Screen Functions51
Robot Series Swap52
Manual Robot Operation54
Jog Operation54
Hand-Guiding Operation55
Teach Pendant Hand-Guiding Button55
Cockpit Button (Five Buttons)56
Cockpit Button (Six Buttons)58
Clamping Escape by Cockpit61
Robot Teaching and Execution62
System Operation Program Outline63
Status Display Area64
Work Screen Area64
Main Menu65
Home Screen Overview66
Task Execution and Stopping68
Load Saved Tasks69
Tool Setting70
Workcell Manager72
What Is a Workcell Item72
Add Workcell Item74
Deprecated Workcell Item75
Unavailable Workcell Items77
Robot Setting78
World Coordinates Setting80
7.5.2 Robot Limits Setting83
7.5.3 Safety I/O Setting86
7.5.4 Normal I/O Setting90
7.5.5 Safety Stop Modes Setting92
Robot Installation Pose Setting93
Tool Shape Setting95
Tool Weight Setting96
User Coordinates Setting98
Nudge Setting99
Space Limit and Zone Settings Overview100
Space Limit Settings103
Collaborative Zone Settings104
Crushing Prevention Zone Settings105
Collision Sensitivity Reduction Zone Settings106
Tool Orientation Limit Zone Settings107
Custom Zone Settings108
End Effector Setting110
Grippers and Tools110
End Effector I/O Signal Setting112
End Effector I/O Testing113
Tool Center Point (TCP) Setting114
Tool Center Point Setting Based on Other End Effectors116
Machine Tool Setting118
Peripheral Setting119
Others120
Vision121
Task Builder122
Task Management122
Create New Task122
Template123
Save Task124
Save Task as125
Editing Workcell Items126
Save Task on External Storage Device127
Load Saved Tasks128
Delete Saved Tasks129
Import Tasks on External Storage Devices130
Task Builder Commands131
Deprecated Skill Command134
Edit Task135
Edit Task Screen Configuration135
Add Command137
Delete Command138
Paste Command139
Setting and Applying Command Properties140
Motion Command Property Setting141
Waypoint Setting141
Speed Setting142
Program Link Mode Setting143
Blending Mode Setting144
Multi-Segment (Waypoint) Setting145
Skill Command Property Setting146
Understanding Basic Principles of Skill Commands146
Compliance Control and Contact Check149
Skill Command Work Point Setting with Cockpit Buttons151
Execute Task Program152
Virtual Mode Screen152
Real Mode Screen: End Effector Information Tab154
Real Mode Screen: I/O Information Tab156
Execute Task158
Task Writer159
Task Management159
Create New Task159
Save Task160
Save Task as161
Save Task on External Storage Device162
Load Saved Tasks163
Delete Saved Tasks164
Import Tasks on External Storage Devices165
Export Task to External Storage Device166
Edit Task Program167
Task Writer Command168
Setting and Applying Command Properties171
Execute Task Program172
Debug Screen173
10. Monitoring and Testing174
Screen Layout174
I/O Status Check176
Controller/Flange Digital Input Check176
Controller Analog Input Check177
Controller/Flange Digital Output Setting178
Controller Analog Output Setting179
I/O Test180
Modbus Test181
Servo on182
Backdrive Mode183
Safety Recovery Mode184
Using Software Recovery Mode185
Packaging Mode Setting186
11. Jog Function187
Jog Screen188
Execute Based on Joint190
Execute Based on Robot Base191
Execute Based on World Coordinates192
Execute Based on Robot Tool193
Movement Screen194
Moving with Angle Setting195
Move with Base Reference Coordinates196
Move with World Coordinates Reference Coordinates197
Move with Tool Reference Coordinates198
Align Screen199
Alignment Based on Base Axis/World Axis200
Go to Home201
Alignment Based on Target202
Alignment Based on Workcell Items204
Jog Plus (Jog+)205
12. Environment Setting208
Language Setting208
Date and Time Setting209
Robot Setting210
Robot Home Position Setting210
Cockpit Setting211
Remote Control Setting212
Smart Pendant Setting215
Change and Disable Password218
User Role Setting219
Network Setting220
User-Defined Modbus Support Function Code220
Register User-Defined Modbus221
Register Preset Modbus222
System Update223
Unified Update223
System Restore225
Check and Enter Robot License Code227
Check Log228
Checking Log Messages228
Checking Real-Time Log Messages During Program Execution228
Extract Log228
Factory Reset229
Delete Log229
License Type and Factory Reset Range According to Vision Connection230
Screen Saver Mode Setting231
12.12 Idle Servo off232
12.13 Friction Calibration233
12.14 KT Smart Factory Setting Screen234
12.15 Backup & Restore235
12.16 Workcell & Skill Installation and Removal238
Smart Pendant (a Series)239
Functions of Smart Pendant239
Smart Pendant Robot LED Color241
Annex A. Upper/Lower Threshold Range and Default Value of Safety Parameters242
A.1 M1509242
A.2 M1013243
A.3 M0617244
A.4 M0609245
A.7 H2515248
A.8 H2017249
Appendix B. Welding Work Overview250
Ethernet/Ip Interface Welding Machine Connection Example250
Flow of Welding Work Utilizing Doosan Robots250

Doosan H2017 - Page 94

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