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M1509
Doosan M1509 User Manual
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2
Table of Contents
Table of Contents
2
Preface
10
Copyright
10
Open Source Software License Information (OSS)
10
Vision License Policy Information
10
Product Introduction
11
Robot Overview
11
Names of each Part
11
Key Features
12
Controller Overview
14
Teach Pendant Overview
16
Smart Pendant (A-Series)
17
Emergency Stop Button (A-Series)
18
System Configuration
19
Safety
21
Safety Indications of User Manual
21
Precautions for Use
22
Types of Stop Modes for Safety
24
Emergency Stop
25
Other Safety Measures
27
System Power Cut-Off
28
Starting up the Robot
29
System Power-Up
29
Emergency Stop Button Setting Switch (A-Series)
33
Booting and Disengaging Packing Position
34
System Booting
34
Disengaging Packaging Pose
35
Robot Mode and State
37
Manual Mode
37
Automatic Mode
38
Other Mode
39
Status and Flange LED Color for each Mode
40
Functional Limits of each Robot Series
43
Robot Safety Setting
46
Safety Limit Setting
47
Space Limit and Zone Setting
48
Application Recovery Mode Screen
49
Using Application Recovery Mode Functions
49
Series Compatibility Error Screen
51
Series Compatibility Error Screen Functions
51
Robot Series Swap
52
Manual Robot Operation
54
Jog Operation
54
Hand-Guiding Operation
55
Teach Pendant Hand-Guiding Button
55
Cockpit Button (Five Buttons)
56
Cockpit Button (Six Buttons)
58
Clamping Escape by Cockpit
61
Robot Teaching and Execution
62
System Operation Program Outline
63
Status Display Area
64
Work Screen Area
64
Main Menu
65
Home Screen Overview
66
Task Execution and Stopping
68
Load Saved Tasks
69
Tool Setting
70
Workcell Manager
72
What Is a Workcell Item
72
Add Workcell Item
74
Deprecated Workcell Item
75
Unavailable Workcell Items
77
Robot Setting
78
World Coordinates Setting
80
7.5.2 Robot Limits Setting
83
7.5.3 Safety I/O Setting
86
7.5.4 Normal I/O Setting
90
7.5.5 Safety Stop Modes Setting
92
Robot Installation Pose Setting
93
Tool Shape Setting
95
Tool Weight Setting
96
User Coordinates Setting
98
Nudge Setting
99
Space Limit and Zone Settings Overview
100
Space Limit Settings
103
Collaborative Zone Settings
104
Crushing Prevention Zone Settings
105
Collision Sensitivity Reduction Zone Settings
106
Tool Orientation Limit Zone Settings
107
Custom Zone Settings
108
End Effector Setting
110
Grippers and Tools
110
End Effector I/O Signal Setting
112
End Effector I/O Testing
113
Tool Center Point (TCP) Setting
114
Tool Center Point Setting Based on Other End Effectors
116
Machine Tool Setting
118
Peripheral Setting
119
Others
120
Vision
121
Task Builder
122
Task Management
122
Create New Task
122
Template
123
Save Task
124
Save Task as
125
Editing Workcell Items
126
Save Task on External Storage Device
127
Load Saved Tasks
128
Delete Saved Tasks
129
Import Tasks on External Storage Devices
130
Task Builder Commands
131
Deprecated Skill Command
134
Edit Task
135
Edit Task Screen Configuration
135
Add Command
137
Delete Command
138
Paste Command
139
Setting and Applying Command Properties
140
Motion Command Property Setting
141
Waypoint Setting
141
Speed Setting
142
Program Link Mode Setting
143
Blending Mode Setting
144
Multi-Segment (Waypoint) Setting
145
Skill Command Property Setting
146
Understanding Basic Principles of Skill Commands
146
Compliance Control and Contact Check
149
Skill Command Work Point Setting with Cockpit Buttons
151
Execute Task Program
152
Virtual Mode Screen
152
Real Mode Screen: End Effector Information Tab
154
Real Mode Screen: I/O Information Tab
156
Execute Task
158
Task Writer
159
Task Management
159
Create New Task
159
Save Task
160
Save Task as
161
Save Task on External Storage Device
162
Load Saved Tasks
163
Delete Saved Tasks
164
Import Tasks on External Storage Devices
165
Export Task to External Storage Device
166
Edit Task Program
167
Task Writer Command
168
Setting and Applying Command Properties
171
Execute Task Program
172
Debug Screen
173
10. Monitoring and Testing
174
Screen Layout
174
I/O Status Check
176
Controller/Flange Digital Input Check
176
Controller Analog Input Check
177
Controller/Flange Digital Output Setting
178
Controller Analog Output Setting
179
I/O Test
180
Modbus Test
181
Servo on
182
Backdrive Mode
183
Safety Recovery Mode
184
Using Software Recovery Mode
185
Packaging Mode Setting
186
11. Jog Function
187
Jog Screen
188
Execute Based on Joint
190
Execute Based on Robot Base
191
Execute Based on World Coordinates
192
Execute Based on Robot Tool
193
Movement Screen
194
Moving with Angle Setting
195
Move with Base Reference Coordinates
196
Move with World Coordinates Reference Coordinates
197
Move with Tool Reference Coordinates
198
Align Screen
199
Alignment Based on Base Axis/World Axis
200
Go to Home
201
Alignment Based on Target
202
Alignment Based on Workcell Items
204
Jog Plus (Jog+)
205
12. Environment Setting
208
Language Setting
208
Date and Time Setting
209
Robot Setting
210
Robot Home Position Setting
210
Cockpit Setting
211
Remote Control Setting
212
Smart Pendant Setting
215
Change and Disable Password
218
User Role Setting
219
Network Setting
220
User-Defined Modbus Support Function Code
220
Register User-Defined Modbus
221
Register Preset Modbus
222
System Update
223
Unified Update
223
System Restore
225
Check and Enter Robot License Code
227
Check Log
228
Checking Log Messages
228
Checking Real-Time Log Messages During Program Execution
228
Extract Log
228
Factory Reset
229
Delete Log
229
License Type and Factory Reset Range According to Vision Connection
230
Screen Saver Mode Setting
231
12.12 Idle Servo off
232
12.13 Friction Calibration
233
12.14 KT Smart Factory Setting Screen
234
12.15 Backup & Restore
235
12.16 Workcell & Skill Installation and Removal
238
Smart Pendant (a Series)
239
Functions of Smart Pendant
239
Smart Pendant Robot LED Color
241
Annex A. Upper/Lower Threshold Range and Default Value of Safety Parameters
242
A.1 M1509
242
A.2 M1013
243
A.3 M0617
244
A.4 M0609
245
A.7 H2515
248
A.8 H2017
249
Appendix B. Welding Work Overview
250
Ethernet/Ip Interface Welding Machine Connection Example
250
Flow of Welding Work Utilizing Doosan Robots
250
Other manuals for Doosan M1509
Reference Manual
134 pages
Installation Manual
190 pages
5
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Doosan M1509 Specifications
General
Reach
1509 mm
Number of Axes
6
Weight
220 kg
IP Rating
IP54
Axis
6
Installation
Floor, Wall
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