Software version : V3.2.0
Document version : V3.0.1
Original instructions(English)

User manual(V3.2.0)

M0609 | M0617 | M1013 | M1509 | H2017 |H2515© 2024 Doosan Robotics Inc.

Table of Contents
1

Preface .........................................................................................7

1.1

Copyright ...................................................................................................7

1.2

Open Source Software License Information (OSS)..........................................7

2

PART 1. Safety Manual....................................................................8

2.1

Manual Indication Conventions ....................................................................8

2.2

Safety Symbols...........................................................................................8

2.3

General Instructions ...................................................................................9

2.4

Precautions for Use................................................................................... 11

2.5

Product Usage .......................................................................................... 12

2.6

Risk Assessment ....................................................................................... 13

2.7

Potential Risks ......................................................................................... 14

2.8

Robot Mode and State ............................................................................... 14

2.8.1

Manual Mode .............................................................................................................. 14

2.8.2

Automatic Mode.......................................................................................................... 15

2.8.3

Other Mode ................................................................................................................ 15

2.8.4

Status and Flange LED Color for Each Mode ................................................................... 15

2.9

Product Warranty and Responsibility ......................................................... 19

2.9.1

Scope of Warranty ...................................................................................................... 19

2.9.2

Restrictions and Exceptions of Warranty....................................................................... 20

2.9.3

Transfer ..................................................................................................................... 20

2.9.4

Contact ...................................................................................................................... 20

2.10

Safety Function ........................................................................................ 20

2.10.1

Safety-rated Stop Subfunction..................................................................................... 21

2.10.2

Safety-Rated Stop Function ......................................................................................... 24

2.10.3

Safety-Rated Monitoring Function................................................................................ 26

2.10.4

Safety-Rated I/O ......................................................................................................... 28

2.11

Safety Function Settings ........................................................................... 29

2.11.1

Robot Limits............................................................................................................... 31

2.11.2

Safety Signal I/O ......................................................................................................... 33-2-

User manual(V3.2.0)

2.11.3

Safety Stop Modes ...................................................................................................... 37

2.11.4

Nudge Setting............................................................................................................. 39

2.11.5

Space Limit ................................................................................................................ 39

2.11.6

Zone .......................................................................................................................... 40

2.12

Other Safety Measures .............................................................................. 40

2.13

Validity and Responsibility ........................................................................ 41

2.14

Disclaimer ................................................................................................ 41

2.15

Stop Distance and Stop Time ..................................................................... 42

2.15.1

Measurement Methods and Conditions ......................................................................... 42

2.15.2

M1013 Stop Category .................................................................................................. 45

2.15.3

M0609 Stop Category .................................................................................................. 49

2.15.4

M0617 Stop Category .................................................................................................. 52

2.15.5

M1509 Stop Category .................................................................................................. 56

2.15.6

H2017 Stop Category................................................................................................... 60

2.15.7

H2515 Stop Category................................................................................................... 63

2.16

Upper/Lower Threshold Range and Default Value of Safety Parameters ........ 66

2.16.1

M1509 ........................................................................................................................ 66

2.16.2

M1013 ........................................................................................................................ 68

2.16.3

M0617 ........................................................................................................................ 69

2.16.4

M0609 ........................................................................................................................ 70

2.16.5

H2515 ........................................................................................................................ 71

2.16.6

H2017 ........................................................................................................................ 72

3PART 2. Starting Up the Robot....................................................... 74

3.1

Journey Map ............................................................................................ 74

3.1.1

Step 1. Robot Installation ............................................................................................ 74

3.1.2

Step 2. Tool Installation and I/O Testing........................................................................ 75

3.2

Step 1. Robot Installation .......................................................................... 76

3.2.1

Remove packing ......................................................................................................... 76

3.2.2

Connect cable to the controller .................................................................................... 76

3.2.3

Secure the robot base ................................................................................................. 77

3.2.4

Connect controller to robot ......................................................................................... 78

3.2.5

Connect power to controller ........................................................................................ 78

3.2.6

Position controller ...................................................................................................... 79-3-

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3.2.7

Power-up controller.................................................................................................... 80

3.2.8

Disengage emergency stop button ............................................................................... 82

3.2.9

Disengage packaging pose........................................................................................... 83

3.2.10Servo Off.................................................................................................................... 85

3.3

Step 2. Tool Installation and I/O Testing...................................................... 85

3.3.1

Install tool.................................................................................................................. 85

3.3.2

Turn system power off ................................................................................................ 86

3.3.3

Connect wires............................................................................................................. 87

3.3.4

Turn system power on................................................................................................. 88

3.3.5

Test controller and flange I/O....................................................................................... 88

4PART 3. Installation Manual .......................................................... 90

4.1

Product Introduction ................................................................................ 90

4.1.1

Component Check....................................................................................................... 90

4.1.2

Names and Functions .................................................................................................. 91

4.1.3

System Configuration ................................................................................................. 95

4.1.4

Product Specifications, General ................................................................................... 95

4.1.5

Robot Specifications ................................................................................................... 96

4.1.6

Nameplates and Labels ............................................................................................. 113

4.2

Installation ............................................................................................ 114

4.2.1

Cautions during Installation ...................................................................................... 114

4.2.2

Installation Environment........................................................................................... 116

4.2.3

Hardware Installation ............................................................................................... 117

4.2.4

Power On/Off Controller Switch ................................................................................. 127

4.3

Interface ................................................................................................ 128

4.3.1

Flange I/O................................................................................................................. 128

4.3.2

Controller I/O Connection.......................................................................................... 132

4.3.3

Network Connection ................................................................................................. 150

4.4Transportation ....................................................................................... 157

4.4.1

Caution during Transportation .................................................................................. 157

4.4.2

Pose for Robot Transportation ................................................................................... 157

4.4.3

Package Specitications.............................................................................................. 158

4.5

Maintenance........................................................................................... 159

4.6

Disposal and Environment ....................................................................... 159-4-

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4.7

Annex. System Specification.................................................................... 160

4.7.1

Manipulator ............................................................................................................. 160

4.7.2

Controller ................................................................................................................ 167

4.7.3

Teach pendant.......................................................................................................... 169

4.8

Annex. H-Series Handling Guide ............................................................... 170

4.8.1

Quick Guide.............................................................................................................. 171

4.9

Annex. Doosan Robot Allowable Torque.................................................... 174

4.9.1

Doosan Robot Allowable Torque ................................................................................ 174

4.10

Annex. IP Protection Cube module Installation.......................................... 175

5PART 4. Overview of User Manual ................................................ 177

5.1

Power on/off the system.......................................................................... 177

5.1.1

When using the teach pendant ................................................................................... 177

5.2

Overview of Program's Screen Layout ...................................................... 179

5.2.1

Overview of Home Screen.......................................................................................... 181

5.2.2

Getting to know the header ....................................................................................... 182

5.2.3

Overview of Footer ................................................................................................... 183

5.3

What is a robot? ...................................................................................... 185

5.3.1

Functional Limits of each Robot Series ....................................................................... 185

5.3.2

Overview of Singularity............................................................................................. 187

5.3.3

Overview of Euler Angle ............................................................................................ 189

5.4

Overview of Servo On.............................................................................. 192

5.5

Backdrive Module ................................................................................... 193

5.6

Recovery Module .................................................................................... 195

5.6.1

Using Software Recovery Mode .................................................................................. 195

5.6.2

Using Pack/Unpack ................................................................................................... 198

5.7

Robot Parameters Module ....................................................................... 199

5.7.1

Robot Settings.......................................................................................................... 201

5.7.2

Tool Settings ............................................................................................................ 215

5.7.3

Safety Settings ......................................................................................................... 229

5.8

Remote Control Module........................................................................... 264

5.9

Task Editor Module ................................................................................. 266

5.9.1

Overview of the Basic Concepts behind the Task Editor Move Command ....................... 269

5.9.2

Overview of the Concept of Compliance/Force Control of the Task Editor Command ...... 273-5-User manual(V3.2.0)

5.9.3

Overview of Robot Motion Properties of the Task Editor .............................................. 281

5.9.4

Overview of Sub/Call Sub .......................................................................................... 285

5.10

Status Module ........................................................................................ 290

5.10.1

Screen layout for the Status module........................................................................... 290

5.11

Logs Module ........................................................................................... 295

5.12Store Module .......................................................................................... 297

5.13

Settings Module...................................................................................... 299

5.13.1

Setting language in system settings. .......................................................................... 300

5.13.2

Changing Safety Password ........................................................................................ 300

5.13.3

Setting and disabling Password Lock.......................................................................... 301

5.13.4Making Settings in Network Section ........................................................................... 302

5.13.5

Setting the Robot...................................................................................................... 305

5.13.6

Robot update ........................................................................................................... 306

5.13.7

Managing Data.......................................................................................................... 308

5.14

Jog Plus Module...................................................................................... 313

5.14.1

Jog Screen ............................................................................................................... 319

5.14.2

Move Panel............................................................................................................... 324

5.14.3

Align Panel ............................................................................................................... 329

5.15

Appendix, DART Platform installation environment (recommended) .......... 330-6-

User manual(V3.2.0)

Preface

1 PrefaceThank you for choosing this Doosan Robotics product. Before installing the product, please read this manualcompletely and follow the instructions for each installation process provided herein. The contents of thismanual are accurate as of the date that they are written, and product-related information may be modified
without prior notice to the user.

1.1 CopyrightThe copyright of this manual and all intellectual property rights contained herein are held by Doosan
Robotics. Therefore, using, copying, or distributing any part of this manual without receiving written permission
from Doosan Robotics is strictly prohibited. In the event of abuse to or modification for use of any patent, theuser will be fully responsible for the consequences.
While the information in this manual is reliable, Doosan Robotics will not be held responsible for any loss ordamage that occurs due to errors or typos. The contents of this manual may be modified according to productimprovements without prior notification.
Details on updates to the manual can be found on the Robot LAB website (https://
robotlab.doosanrobotics.com/).
© 2024 Doosan Robotics Inc., All rights reserved

1.2 Open Source Software License Information (OSS)
The software installed in this product was developed based on free/open source software.
Details on licensing of free/open source software license can be found on the OSS use page on the Doosan
Robotics website (www.doosanrobotics.com/kr/oss/license1).
For related inquires, contact the Marketing Department of Doosan Robotics(marketing.robotics@doosan.com2).

1 https://www.doosanrobotics.com/kr/oss/license
2 mailto:marketing.robotics@doosan.com-7-

User manual(V3.2.0)

PART 1. Safety Manual

2 PART 1. Safety Manual
The Safety provides safety information the user must be aware of before installing or operating the robot. All
robots have risks of high voltage, electricity, and collision. Therefore, in order to minimize the risk of injuries
and mechanical damage, one must observe the basic safety cautions while operating the robot and using
related parts. To protect user safety and prevent property loss, make sure to read and follow the instructions
carefully. The contents of the manual and specifications of the product may change for product andperformance improvements.

2.1 Manual Indication Conventions
To communicate safety precautions related to the use of the product, the following symbols are indicated inthis manual.
Symbol Danger Warning Caution

 NoteName

Description

DangerFailure to observe instructions with this symbol may result inserious accidents that could result in death or serious injury
to the operator.

Warning

Failure to observe instructions with this symbol may result inserious accidents that could result in death or serious injury
to the operator.

CautionFailure to observe instructions with this symbol may result in
product damage or cause injury to the operator.

Note

This is additional information to help the user.

2.2 Safety Symbols
Among the symbols used in this manual, symbols related to user safety are as follows:
Symbol Danger

Description
This symbol means that immediate hazards can occur due to electrical conditions
such as high voltage. Failure to observe instructions with this symbol may result inserious accidents that could result in death or serious injury to the operator.

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PART 1. Safety Manual

SymbolDescription

 Danger

This symbol means that immediate hazards can occur. Failure to observe
instructions with this symbol may result in serious accidents that could result indeath or serious injury to the operator.

 WarningThis symbol means that potentially dangerous situations can occur due to electricalconditions such as high voltage. Failure to observe instructions with this symbol may
result in serious accidents that may cause serious injury to the operator.

 WarningThis symbol means potentially dangerous situations can occur. Failure to observe
instructions with this symbol may result in serious accidents that may cause serious
injury to the operator.

 Caution

This symbol means dangerous situations can occur due to overheating. Failure toobserve instructions with this symbol may result in serious accidents that may cause
serious injury to the operator.

 Caution

The product may become damaged or the operator may suffer injury.

2.3 General Instructions
This chapter describes general danger and warning items related to operating the robot.

 Warning• If the robot is installed with electrical devices, install the robot referring to the Installation
Manual.

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User manual(V3.2.0)

PART 1. Safety Manual Warning• If a device is installed on the tool during robot installation, make sure to use appropriate bolts.
• Suitable safety measures, such as safety fences, must be implemented to protect the staff androbot during installation.
• Never operate a damaged robot.
• Make sure to connect safety protection equipment with a safety interface. If such equipment isconnected to a general interface, the integrity of safety functions may not be guaranteed.
• If the robot collides with an external object, a significant impact may be generated. The impact
the robot receives is proportionate to the kinetic energy, so higher speeds and high payload
can generate large impacts. Make sure to maintain a safe speed and payload during operationin collaborative spaces.
• If the robot axis must be rotated when the robot is not operated, it can be rotated at a torquegreater than 400 Nm.
• Modifying the robot without prior approval may cause critical breakdowns and accidents.

 Caution• Operating the robot and controller for an extended period of time generates heat. Do not touch
the robot with bare hands after operating for an extended period of time. Before performing
work that requires touching the robot, such as tool installation, leave the robot for more than 1hour after turning off the power of the control unit to cool down the robot.

 Caution• Do not expose the robot to powerful magnetic fields. It may cause damage to the robot.
• If the power plug is disconnected or the power is shut off during robot and controller operation,
robot and controller failure can occur.
• Do not use the controller being laid. To avoid getting a hand caught in the door by accident,
make sure to keep it upright while working with the door open.

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PART 1. Safety Manual

2.4 Precautions for Use Danger• Do not operate the robot if the robot is abnormal. The user may be injured.
• Do not put fingers inside the controller with power supplied. Live cables are connected, which
may lead to electrocution or injury.
• Do not modify the robot. Doosan Robots is not responsible for for any issues that occur due tounauthorized modification.
• Do not enter the robot’s operation area or touch the robot when it is operating. This may leadto colliding with the robot, resulting in damage to the robot or injury to the individual.

 Warning• Make sure to read and understand the manuals for all equipment installed.
• To prevent accidents by getting caught by the robot, do not wear loose clothing or accessories
when operating the robot. Tie long hair to prevent accidents with hair getting caught by the
robot.
• Before operating the robot, comprehensive risk assessment must be performed.
• Safety-related parameters must be determined through the comprehensive risk assessment,
and safety parameter settings and the operation of safety functions must be verified before
operating the robot.
• Before starting robot operation(Jogging, handguiding, running task program, etc.), make surethat the actual payload and installation are correct and that the actual pose of robot is identicalto the pose on screen.
• Nudge and Hand-guiding must only be used if risk assessment approves its use.
• If an error occurs on the controller 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.
• Make sure to become completely familiar with the robot user manual prior to operating therobot.
• If the teaching pendant warns the user of a critical error, immediately engage the emergency
stop switch, identify the cause of the error, resolve the error and then resume robot operation.
If the critical error cannot be resolved, contact the sales agent or robot supplier.
• Direct teaching must only be performed in safe environments. Do not operate the robot if there
are sharp edges or jamming near the tool and its surroundings.

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User manual(V3.2.0)

PART 1. Safety Manual• Before performing direct teaching, make sure accurate inputs (tool length, weight, center ofgravity) are made. If inputs are different from the tool specification, direct teaching error or
malfunctioning can occur.
• To ensure user safety, joints may operate at a certain speed or higher, or the maximum speed of
the TCP may be limited during direct teaching. If the limit is exceeded, the protective stopfunction activates.
• Enable/disable the direct teaching function when the robot has completely stopped. If thedirect teaching function is enabled/disabled during robot operation, malfunctions may occur.

 Caution• Take caution of the robot’s movement when using the teach pendant. Failure to do so may leadto colliding with the robot, resulting in damage to the robot or injury to the individual.
• Collision with an object generates considerable kinetic energy, leading to dangerous situations.
This energy is proportionate to the speed and payload. (Kinetic Energy = 1/2 Mass x Speed^2)• Combining different machines may increase existing risks or create new risks. When a robot is
integrated into a system, perform risk assessment of the entire system.
• If different safety levels and emergency stop performance levels are required, always select thehigher level.
• If a machine that can cause damage to the robot is integrated, it is recommended toindividually test all functions and robot programs.
• It is recommended to test the robot program by designating temporary waypoints outside
another machine’s workspace. Doosan Robotics is not responsible for damages that occur due
to programming error or robot malfunctioning, as well as damage to the equipment.
• If the power plug is disconnected or the power is shut off during robot and controller operation,
robot and controller failure can occur.
• For information about additional modules, refer to corresponding manuals.

2.5 Product Usage
This is an industrial product designed specifically for purposes of transferring and assembling objects byattaching components to products using tools, and it must be operated in the conditions specified in its
specifications.
This product features special safety functions designed for the purpose of collaborating with human operators,
and it operates with human operators without specific boundaries. Conduct work with the system only when all
applications, including the tool, workpiece, boundary and other equipment, are confirmed to have no harm.
The following uses are considered inappropriate because they exceed the boundaries of the product’s intended
purpose. Doosan Robotics will not be held responsible for any damage and malfunctioning of the robot,
property losses and injuries to users due to such inappropriate uses.

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User manual(V3.2.0)

PART 1. Safety Manual• Use in an environment with potential explosions• Use in application related to medicine and human lives• Use in transporting humans and animals• Use without risk assessment• Use in locations where performance and operation environment specifications are not met• Use in environments with insufficient safety functions• Use of the robot as a step to stand on• Use in environments where electromagnetic waves are generated at levels greater than the IEC standard,such as welding

2.6 Risk Assessment
legally mandatory in most countries. In addition, safety assessment of robot installation changes according tothe overall system integration method, so it is impossible to perform risk assessment solely with the robot.
In order to perform risk assessment, the administrator overseeing the overall system establishment must installand operate the robot according to ISO12100 and ISO10218-2. In addition, the administrator can refer to thetechnical specification, ISO/TS 15066.
Risk assessment must consider the overall work process in terms of the overall life cycle of the robot
application. Key objectives of risk assessment are as follows:• Robot setting and work teaching for robot operation• Troubleshooting and maintenance• Proper robot installation
Before supplying power to the robot arm, make sure to perform a risk assessment. Setting appropriate safety
settings and identifying the need for additional emergency stop buttons and other protective measures areparts of risk assessment.
Identifying appropriate safety settings is a critical aspect of developing a collaborative robot application. For
more information, refer to the corresponding chapter of the manual.
Some safety functions are designed specifically for collaborative robot applications. These functions can be set
up through safety function settings, and they are optimized for responding to specific risks identified throughthe risk assessment performed by the integrator.
The safety functions of the collaborative robot can be set up in the safety setting menu, and they offer thefollowing features:• Force and power limitation: Limits the stopping force and pressure of the robot in case of collisions
between the robot and a worker• Momentum limitation: Limits the energy and impact load by reducing the speed of the robot when acollision between the robot and a worker occurs• Joint position and TCP limitation: Limits robot movement to prevent moving towards specific body partsof users such as the neck or head

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User manual(V3.2.0)

PART 1. Safety Manual• TCP and tool pose limitation: Limits certain areas or characteristics of a tool and workpiece to minimize
related risks (i.e., limits the movement of sharp edges of workpieces aimed at users)• Speed limitation: Limits robot movement to stay at low speed in order to secure time for the user to avoid
a collision before a collision between the robot and a worker occurs
Applying appropriate safety settings is considered to be the same as fixing the robot to a specific location andconnecting it to a safety-related I/O. For example, setting password protection can prevent unauthorized safety
setting changes by individuals not approved by the system integrator.

Key items to note when performing risk assessment of the collaborative robot application are as follows:• Severity of individual potential collisions• Probability of individual potential collision occurrence• Probability of individual potential collision avoidance
If the robot is installed on a non-collaborative robot application that cannot sufficiently remove risks using its
internal safety functions (e.g., use of dangerous tool), the system integrator must decide to install additional
protection devices during risk assessment (e.g., use of protection devices capable of protecting the integrator
during installation and programming).

2.7 Potential Risks• Jamming fingers between the manipulator base and mount• Jamming limbs between the Link 1 and Link 2 (between Joint 3 (J3) and Joint 4 (J4))• Jamming limbs between Joint 1 and Joint 2 (J1 and J2) and Joint 5 and Joint 6 (J5 and J6)• Penetration of skin by sharp edges or surfaces of the tool
• Penetration of skin by sharp edges or surfaces of objects in the operating space of the robot• Contusion caused by robot movement• Bone fracturing due to movement between heavy payload and hard surface• Accidents that occur due to loosening of bolts securing the robot flange or tool
• Object falls from the tool due to inappropriate grip or sudden power shortage• Accidents that occur due to mistaking an emergency stop button of different equipment• Errors that occur due to unauthorized safety parameter modification

2.8 Robot Mode and StateThe operation modes of the robot consist of Manual Mode, where the user controls the robot directly, and Automode, where the robot operates without direct user control.

2.8.1 Manual Mode
This is the mode in which the robot operates according to direct user control. The robot only operates when abutton related to an action is pressed, and releasing the button results in stopping the corresponding action.

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PART 1. Safety Manual• In Manual Mode, the TCP movement speed is limited to less than 250 mm/s according to the Robot Safety
Regulations. However, when handguiding, the limits set in Robot Parameter > Safety Settings > Robot
Limits are applied.
• If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position Enable
Switch can be connected in Robot Parameter> Safety Settings > Safety I/O. In this case, the Enable
Switch must be set in the center position to allow the robot to operate in Manual Mode and to turn on the
servo.
In Manual Mode, it is possible to configure robot peripherals in Robot Parameters or to program robot tasks in
Task Editor, and if the robot cannot be operated normally for reasons such as the robot exceeding the safety
threshold, the Recovery function can be performed to restore normal operation.

2.8.2 Automatic Mode
This is the mode in which the robot operates without direct user control. The robot will execute theprogrammed task or predefined sequence with a simple operation command and without additional user input.
Task Editor can verify the programmed task in virtual mode, execute it in actual operation, and perform robot
tool weight and automatic weight center measurement functions.
• If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position Enable
Switch can be connected in the Robot Parameter > Safety Settings > Robot Limits setting. In this case,
the Enable Switch must be set in the center positionto play or start, or resume Automatic Mode and to turnon the servo..

2.8.3 Other Mode
Unlike normal modes such as manual mode and automatic mode, this is exceptional mode.
This mode includes special states such as controller booting, initializing and states related to Backdrive atwhich you can push robot by hand without drive power.

2.8.4 Status and Flange LED Color for Each Mode
Manual Mode
Mode

StatusManualManual Standby

Description

Flange and/orbase LED• This is the default status of teaching.
• Robot Parameter and Task Editor can be used toconfigure the work condition or perform task
programming.
• It monitors the stop status with Safe Operating Stop
(SOS).

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PART 1. Safety Manual

Mode

StatusDescription

Flange and/orbase LED

ManualJogging• The jog function is used to operate the robot.

Blue Flashing

Manual• The manipulator can be operated directly by hand.

Light blue flashing• Recovery in progress.
• All safety functions except for axis and TCP speed
monitoring are disabled during recovery.
• It monitors the stop status with Safe Operating Stop
(SOS).

Yellow Flashing• The jogs of each axis can be used to correct theexceeded safety threshold.

Yellow Flashing• The manipulator can be moved directly by hand tocorrect the exceeded safety threshold.

Yellow Flashing• Protective Stop is activated by a Protective Stop
input or exceeding the safety threshold.
• It monitors the stop status with Safe Operating Stop
(SOS).
• A yellow protective stop pop-up appears. After thecause of the protective stop is removed, pressing
the Reset button will switch the robot status to
Manual Standby and the pop-up will disappear.
• If the exceeded safety limit cannot be released
without moving the robot, it can be released bypressing the Recovery button to enter safety
recovery mode and moving the robot.
• If it is not possible to release the protective stop
input from the protective device, pressing the
Safety I/O button can cancel the protective stop
input setting to release it.

Yellow

Handguiding
RecoveryStandby

Recovery
Jogging
RecoveryHandguiding
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PART 1. Safety Manual

Mode

StatusServo OffDescription

Flange and/orbase LED• The servo is turned off due to an emergency stop orProtective Stop input, or exceeding the safety
threshold.
• It is identical to Safe Torque Off (STO).
• The servo can only be turned on when the cause of
the emergency stop or protective stop has beencleared.
• If the exceeded safety limit cannot be released
without moving the robot, it can be released byturning on the servo in the safety recovery mode
screen and moving the robot.
• If it is not possible to release the protective stop
input from the protective device, canceling theprotective stop input setting in the Safety I/Osetting menu releases it.

Red (M/H Series)

Automatic Mode
Mode

StatusAuto

Auto Standby• The UI of the Teach Pendant is the actual mode
execution screen in the workspace.
• Press the Execute button to execute the task
program.
• White is displayed for a single work area and green
is displayed for a collaborative work area.

White / Green

Auto• The task program is being executed.
• White is displayed for a single work area, green isdisplayed for a collaborative work area, and whiteand yellow are displayed in turn for a priority work
area.

White Flashing /• The Handguiding command is executed during task
program execution.
• The system waits until the user presses the"Handguiding" button.
• It monitors the stop status with Safe Operating
Stop (SOS).

Light blue

Running

HGC(HandGuide
Control)StandbyDescription

Flange and/orbase LED- 17 -

Green Flashing
White & yellow
Flashing in turnUser manual(V3.2.0)

PART 1. Safety Manual

Mode

Status

HGC
Running

Description

Flange and/orbase LED• The robot pose can be changed by pressing the
Handguiding button.
• After the robot stops 3 times, if the HGC End &Resume signal is input via Safety IO, it switches toAuto Running and the task program is subsequently
executed.

Light blue flashing

Auto-measure• The weight center point of the end effector ismeasured automatically. Please note that thesafety monitoring functions of the robot are
disabled.

Yellow Flashing

Interrupted• Protective Stop is activated by a Protective Stop
input or exceeding the safety threshold.
• It monitors the stop status with Safe Operating
Stop (SOS).
• A yellow protective stop pop-up appears. After thecause of the protective stop is removed, pressing
the Reset button will switch the robot status to
Manual Standby and the pop-up will disappear.
• If the exceeded safety limit cannot be released
without moving the robot, it can be released bypressing the recovery button to enter safety
recovery mode and moving the robot.
• If it is not possible to release the protective stop
input from the protective device, pressing the
Safety I/O button can cancel the protective stop
input setting to release it.

Yellow

Servo Off• The servo is turned off due to an emergency stop orProtective Stop input, or exceeding the safety
threshold.
• It is identical to Safe Torque Off (STO).
• The servo can only be turned on when the cause of
the emergency stop or protective stop has beencleared.
• If the exceeded safety limit cannot be released
without moving the robot, it can be released byturning on the servo in the safety recovery mode
screen and moving the robot.
• If it is not possible to release the protective stop
input from the protective device, canceling theprotective stop input setting in the Safety I/Osetting menu releases it.

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Other status
Mode

Status-Backdrive Hold

• The brakes on all 6 axes are engaged, locking out
unpowered operation.

Yellow Flashing

Backdrive
Release• Brake Release has been selected, causing 1 or more
joints to be released.
• Note that if the robot is released without the brake
being re-engaged, the axis will not be fixed and will
fall.

Yellow Flashing

Backdrive• Servo turned off due to an emergency stop or joint
speed limit exceeded.
• It is identical to Safe Torque Off (STO).

Servo Off

Initializing

Description

Flange and/orbase LED• This is the process of booting up the controller andinitializing the robot.

Red (M/H Series)

Red flashing

2.9 Product Warranty and Responsibility
Doosan Robotics (hereinafter referred to as “Doosan” or “Manufacturer”) offers a restricted warranty as
stipulated in this warranty certificate for all robot systems (collectively “robot”) and parts of the system(excluding parts that are exceptions or restricted according to the terms and conditions below) sold throughDoosan or official sales agents. The warranty stipulated by this warranty certificate is a restricted warranty, and
it is the only warranty provided by the Manufacturer. All warranty items shall be handled according to theconditions listed below.

2.9.1 Scope of Warranty
The material and manufacturing defects of each robot and its parts (collectively, “Doosan Products”) are
subject to the warranty provided by the Manufacturer. This warranty is only offered to the end user (hereinafterreferred to as “Customer”). The warranty period is 1 year starting from the date when the robot was installed.
The scope of this warranty limits the Manufacturer's only responsibility for all Doosan products and theCustomer's only remedy to the repair or replacement of defective Doosan products.
Doosan does not compensate any or all financial, operation or productions losses, any or all indirect losses suchas damage to other equipment, and any or all deliberate, special or consequential losses that occur due todefects of Doosan Products.

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2.9.2 Restrictions and Exceptions of Warranty
To maintain the warranty, thorough maintenance procedures stipulated by the Manufacturer must be observed
and recorded. This warranty is voided if the Manufacturer determines that the user failed to observe thefollowing stipulated procedures.
• If a Doosan Product is inappropriately handled or used by the user
• If parts or S/W not provided by Doosan are installed• If a Doosan Product is incorrectly repaired or maintained by an unofficial repair technician or unauthorizedindividuals• If the user modified a Doosan Product without prior approval from the Manufacturer• If a Doosan Product was used for non-industrial or personal purposes• If the life cycle of consumables has ended• If the warranty claim is made after the warranty period• If the breakdown is caused by natural disasters (fire, flood, abnormal power, etc.)
This warranty does not apply to damages caused by external circumstances the Manufacturer does not haveany control over such as theft, intentional destruction, fire, natural disasters, war or act of terrorism.
Notwithstanding the exceptions or restrictions of this warranty, this warranty does not include any warranties
where a Doosan Product satisfies the buyer’s production standards or miscellaneous requirements, or operates
without any errors or without any interruption. The Manufacturer does not assume responsibility for any usesby the buyer, and the Manufacturer does not assume any responsibility for defects other than repair or
replacement such as defects in design, production, operation and performance.

2.9.3 Transfer
This warranty is included in the warranty period, and if the Doosan robot is sold to a different individual througha private transaction, the warranty can also be transferred. However, the warranty is only valid if the
Manufacturer is notified of this transaction, and the warranty period is still in effect. The assignee of thiswarranty must observe all conditions stipulated in this warranty.

2.9.4 Contact
marketing.robotics@doosan.com3

2.10 Safety Function
Users/system integrators can make use of the various safety functions, including safety-rated stop function,
monitoring function and interface function, to protect operators and machines, and can also connect othermachines and safety/protection equipment.

3 mailto:marketing.robotics@doosan.com- 20 -

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Each safety-rated stop function, monitoring function and interface function satisfy Category 3, Performance
Level d(PL d) defined by ISO 13849-1 and Hardware Fault Tolerance 1, Safety Integrity Level 2(SIL 2) defined by
IEC 62061.
The joint-level operated safety functions of Doosan Robotics uses the safety functions described in IEC
61800-5-2.

 Note• Work cells must be set using the safety functions and interface according to the risk assessment
performed on the corresponding robot application by the system integrator, and refer to thismanual for information required for this..
• If the safety systems of the robot detect system defects, such as hardware defects including
emergency stop circuit shortage, position sensor damage or control communication error, Stop
Category 0 is immediately initiated.
• Meanwhile, if the safety systems of the robot detect violations during safety monitoring, suchas pressing the emergency stop switch, protective stop signal input, detection of external
impact, or physical parameters (robot/TCP position, speed, momentum) exceeding set
parameters, the system stops the robot using the mode set as the stop mode setting in thesafety setting menu. (Selects Stop Category 0, 1 or 2)• For information on the time and stopping distance until the robot comes to a full stop from themoment the above error or violation occurs, refer to Stop Distance and Stop Time(p. 42). This
time must be considered as part of the risk assessment performed by the system integrator.
• In special cases (collision detection, TCP Force Violation), a Safety Stop Mode that stops therobot after accepting the external force for 0.25 seconds after event occurrence can be used to
avoid clamping situations where limbs are jammed between the fixated jig/workpiece and therobot. (RS1 Stop Mode)• The safety setting menu can set various safety functions to limit the movement of joints, robot
and TCP. TCP means the location of the output flange center point added by the TCP offset.

2.10.1 Safety-rated Stop Subfunction
Safety-rated stop subfunction is used to stop the robot when Safety-Rated Monitoring Function(p. 26)detects
limit violation or when a stop signal is received from the dedicated input terminal ofSafety-rated Stop
Subfunction4.

 Note• PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous safety-related
system/subsystem failures occurring in an hour

4 https://doosanrobotics-manual.atlassian.net/wiki/pages/createpage.action?

fromPageId=6362140&linkCreation=true&spaceKey=TESMT&title=Safety-rated+Stop+Subfunction- 21 -

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PART 1. Safety Manual• PL (Performance Level): The performance level of safety-related components (SRP/CS) of
control system defined by ISO 13849-1• SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems(SRECS or SCS) according to IEC 62061• Stop Category: The category of stop functions defined by IEC 60204-1

1

SafetyFunction

Description

PFHd

PL,
SIL

STO

It is the safety stop function
corresponding to Stop
Category 0, and it immediately
cuts motor power to all joint
modules.

2.87E-8

PL e
Cat.
4

(Safe
Torque
Off)
&
SBC
(Safe
Brake
Control)

/h

SIL
3

WIth motor power down, theaxis will continue to rotate
due to inertia, so the brakes
must be operated
simultaneously to stop withfrictional force of the brake.
• As the motor power is cut
off, the robot can be
operated after releasing
the stop function andsetting the Servo On.
• For more information
about servo on methods,
refer to What is Servo On?
(p. 192)• The robot brake is used formaintaining the current
pose when driving force islost (i.e., power off, etc.)
not fordeceleration. Frequently
using STO can result inbrake wear or decelerator
durability loss, so it isrecommended to use SS1
unless necessary.

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SafetyFunction

Description

PFHd

PL,
SIL

SS1

This is the safety stop
equivalent of Stop Category 1,
which decelerates all joints tothe maximum possible tostop, then cuts the power tothe motor and engages thebrake to keep it stationary.

1.78E-7

PL d
Cat.
3

(Safe Stop
1)

/h

SIL
2

• If the predefined
deceleration does notoccur normally during
stopping, it is switched to
STO stop.
• Power is cut off after
deceleration, and like
STO, the robot can be
operated after releasing
the stop function andsetting the Servo On.
• For more information
about servo on methods,
refer to What is Servo On?
3

SS2(Safe Stop
2)

This is the safety stop
equivalent of Stop Category 2,
which decelerates all joints tothe maximum possible tostop, then switches it to thestop status monitoring
function.

1.78E-7
/h

PL d
Cat.
3
SIL
2

• If the predefined
deceleration does notoccur normally during
stopping, it is switched to
STO stop.
• All joints are stopped withmaximum deceleration by
a Stop Modecorresponding to Stop
Category 2, and SOS (Safe
Operating Stop) is
engaged.

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4

SafetyFunction

Description

PFHd

PL,
SIL

ReflexStop

It is the safety stop function
corresponding to Stop
Category 2, and it utilizes
Floating Reaction ( a function
to comply with the external
force for a moment after thecollision is detected) to
respond to external force, andSafe Operating Stop (SOS) is
engaged.

1.93E-7

PL d
Cat.
3

(RS1)

/h

SIL
2

• If excessive location,change in direction or
speed is detected during
Floating Reaction, or if
deceleration is not done
appropriately during
stopping, STO stop is
engaged.

2.10.2 Safety-Rated Stop Function
SafetyFunction

Safety Function Trigger
Condition

Intended Action

PFHd

PL,
SIL

2.87E-8

PL e
Cat.
4

Intended Result

Triggering Event
1

Emergency
Stop

If the Emergency Stop
switch connected to the
TBSFT EM terminal ispressedIf the Emergency Stop
switch of the teach pendantis pressed

2

Protective
Stop

In case the protective
equipment connected to
the PR terminal of TBSFT is
activated,

Emergency Stop is
engaged according to theconfigured Safety Stop
Mode.

/h

SIL 3

• STO or SS1

Emergency Stop is
engaged according to theconfigured Safety Stop
Mode.

1.78E-7

PL d
Cat.
3

/h

SIL 2

• STO, SS1, or SS2

 How to resume work after a protective stop
• If the tool center point (TCP) of the robot is within the Collaborative Zone and the Nudge
function is enabled, the user can apply force to the robot directly (Nudge) to resume work. For
more information, refer to Setting the Collaborative Zone(p. 259) and Nudge.

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Emergency Stop
The Emergency Stop button is available to stop the system in case of an emergency. In emergency situations,press the Emergency Stop button in the top right corner of the teach pendant to immediately stop the system.

 Note• Emergency stops should be used as a complementary protective measure, not as a safeguard.
• The safety stop mode for the emergency stop is set to Safe Stop 1 (SS1) by default.
• Additional Emergency Stop buttons can be installed if deemed necessary as a result of
evaluating the risk to the robot application.
• The Emergency Stop button must comply with IEC 60947-5-5.
• If an emergency stop triggered through the port set in Safety I/O, the button capable ofaccessing the screen for Safety Input setting at the bottom of the emergency stop popup
window is enabled.

Protective Stop
The robot also features Protective Stop function which can stop the robot using pressure sensitive protective
equipment, such as safety matts, or electro-sensitive protective equipment, such as light curtain laser scanners.
For more information about connecting protective devices, refer to Setting the Terminal Block for Contact Input(TBSFT)(p. 133) and Configuring Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)(p. 136).

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2.10.3 Safety-Rated Monitoring Function두산로봇은 위험성평가를 통한 위험 저감조치로 사용할 수 있는 안전정격 감시기능을 제공합니다. The
threshold detected by each monitoring function can be configured in the Robot Parameter> Safety Settings >Robot Limits.

 Note• Safety limits is the condition where the safety-rated monitoring function triggers the stopfunction. When stop is completed, the position of the robot and force applied externally may
differ from the configured safety limit.
• PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous safety-related
system/subsystem failures occurring in an hour
• PL (Performance Level): The performance level of safety-related components (SRP/CS) of
control system defined by ISO 13849-1• SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems(SRECS or SCS) according to IEC 62061
SafetyFunction

Safety Function Trigger
Condition

Intended Action

PFHd

PL,
SIL

1.78E-7

PL
d
Ca
t. 3

Intended Result

Triggering Event
1

SOS
(Safe
OperatingStop)

The current position is
maintained with power
supplied to the motor
and the brake disengaged(Servo ON state).

STO

/h

SIL
2

If the angle of one axis
exceeds a certain angle
when stopped
2

SLP Joint
Angle Limit
SLP (Joint
Angle Limit)

If any of the axis angles
exceed the configured
limit

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

1.78E-7/h• STO, SS1, or SS2

PL
d
Ca
t. 3
SIL
2

3

SLS Joint
Speed Limit
SLS (Joint
Speed Limit)

If any of the axis speeds
exceed the configured
limit

Emergency Stop is engaged
according to the configured
Safety Stop Mode.
• STO, SS1, or SS2

1.78E-7
/h

PL
d
Ca
t. 3
SIL
2

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SafetyFunction

Safety Function Trigger
Condition

Intended Action

PFHd

PL,
SIL

1.93E-7

PL
d
Ca
t. 3

Intended Result

Triggering Event
4

SLT Joint
Torque Limit
SLT (JointTorque Limit)

If the torque applied toeach axis exceeds thepredefined limit

Emergency Stop is engaged
according to the configured
safety stop mode.

/h

• STO

SIL
2
5

Collision
Detection
Collision
Detection

If any of the torques
applied to each axis
exceed the limit for
configured collision
detection sensitivity

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

1.93E-7/h• STO, SS1, SS2, or RS1

SIL
2• Stop Mode forCollaborative
Zoneand Standalone
Zone can be set
individually.
6

TCP/Robot
Position Limit#TCP/Robot
Position
Limit#

7

TCP
Orientation
Limit
TCP
#Orientation
Limit#

8

TCP Speed
Limit#TCP Speed
Limit#

When the TCP or robot(including Tool Shape)
deviates from or
encroaches the range set
in the space limit,

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

If the difference between
the set direction and the
TCP orientation exceeds
the configured thresholdwithin the Tool
Orientation Limit Zone,

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

If the TCP speed exceeds
the configured threshold,Emergency Stop is engaged
according to the configured
Safety Stop Mode.

PL
d
Ca
t. 3

1.78E-7/h• STO, SS1, or SS2

PL
d
Ca
t. 3
SIL
2

1.78E-7/h• STO, SS1, or SS2

PL
d
Ca
t. 3
SIL
2

• STO, SS1, or SS2

1.78E-7
/h

PL
d
Ca
t. 3
SIL
2

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SafetyFunction

Safety Function Trigger
Condition

Intended Action

PFHd

PL,
SIL

1.93E-7

PL
d
Ca
t. 3

Intended Result

Triggering Event
9

TCP ForceLimit
TCP Force
Limit

If the external force
applied to the TCP
exceeds the configured
limit

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

/h• STO, SS1, SS2, or RS1

SIL
2• Stop Mode forCollaborative
Zoneand Standalone
Zone can be set
individually.
10

Robot
MomentumLimit

If the momentum of therobot exceeds theconfigured limit

Emergency Stop is engaged
according to the configured
Safety Stop Mode.

Robot
Momentum
Limit
11

MechanicalPower Limit#Robot Power
Limit#

1.78E-7

PL
d
Ca
t. 3

/h

• STO, SS1, or SS2

SIL
2
If the mechanical powerof the robot exceeds theconfigured threshold,Emergency Stop is engaged
according to the configured
Safety Stop Mode.

1.78E-7

PL
d
Ca
t. 3

/h

• STO, SS1, or SS2

SIL2

2.10.4 Safety-Rated I/O
Doosan Robotics provides a safe-rated input interface to which safety protection devices, protection devices,
emergency stop switches, control devices, etc., can be connected. In addition, a safety-rated output interface isprovided that outputs the robot mode and status information as well as whether the TCP is inside various typesof safe areas.

 Note• PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous failures ofsafety-related system/subsystem per hour
• PL (Performance Level): The performance level of safety-related components (SRP/CS) of
control system according to ISO 13849-1• SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems(SRECS or SCS) according to IEC 62061- 28 -

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1

Safet
y
Func
tion

Description

PFHd

PL,
SIL

Safet
y IO

A duplexed interface for safety related signal input and output

4.04E-8

If the input signals do not match or if duplexed output signal
feedbacks do not match, it stops the robot and displays an error
message.

/h

PL dCat. 3
SIL 2

It is the safety-rated input and output, and it offers following functions: For more information, refer to Safety
Signal I/O(p. 33).
Safety Input

Safety Output

Emergency Stop (L), Emergency Stop - No
Loopback (L),Emergency Stop (L), Emergency Stop - excl. No
Loopback Input (L),Protective Stop (L), Protective Stop - STO(L), Protective Stop - SS1 (L), Protective Stop - SS2(L),

Safe Torque Off (L), Safe Operating Stop (L), Abnormal(L), Normal Speed (L), Reduced Speed (L),Protective Stop (L) - Auto Reset & Resume(R), Interlock Reset (R), Reduced Speed
Activation(L),Auto Mode (L), Manaul Mode (L), Remote Control Mode(L), Standalone Zone (L), Collaborative Zone (L)High Priority Zone (L), Tool Orientation Limit Zone(L), Designated Zone (L)3-Pos Enable Switch (H), Handguiding Enable
Switch (H), Remote Control Enable (H),
Safety Zone Dynamic Enable (H), Safety Zone
Dynamic Enable (L), HGC End & Task Resume (R)

2.11 Safety Function Settings

1

Classificat
ion

Safety Settings

Description

Basic/
Universal
Settings

World
Coordinates
Setting(p. 204)

A coordinate system representing the robot and workpiece can be set.

Robot Limits
Setting(p. 229)

The universal safety limit for joints and robot/TCP safety-rated
monitoring functions can be set.

Safety Signal I/O
Setting(p. 233)

Configurable digital I/O ports can be set as safety signal I/Os.

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Classification

2

Tool and
Robot
Pose

Safety Settings

Description

Safety Stop
Modes(p. 236)

The Stop Mode can be set when the Emergency Stop or Protective Stopis activated, or when the safety-rated monitoring function detects limit
violation.

Nudge(p. 263)

Parameters related to the nudge function, which is capable of resetting
Protective Stop or resuming auto operation of the robot can be set
when specific conditional are met.

Tool Weight
Setting(p. 221)

The workpiece payload, which acts as the basis for control and safetyfunctions, can be set.

Tool Shape
Setting(p. 224)

Robot tool shapes, which are used in space limit and self-collision
prevention functions, can be set.

Mount (Robot
Installation Pose)
Setting(p. 202)

The robot installation pose can be set.

3

Space
Limit

Space Limit
Setting(p. 257)

The robot/TCP position limit function can be activated.

4

Zone

Setting theCollaborative
Zone(p. 259)

It is the zone which can be set for collaborative work between robot
and operator.

Setting the
Crushing
Prevention
Zone(p. 260)

The robot work position and space around obstacles can be set to
reduce the risk of limbs jamming between robots and obstacles.

• Nudge or hand guiding control (HGC) functions can only be
performed in the Collaborative Zone.
• The task speed and joint speed can be decelerated automaticallyby setting deceleration rate, and the collision detection sensitivity,
TCP force limit, TCP speed limit and Safety Stop Mode are
overridden within the Zone.
• Zones that are not set as the Collaborative Zone are treated asStandalone Zone of the robot.

• The robot TCP speed, collision sensitivity and safety stop mode are
fixed at 200 mm/s or less, 100% and RS1 respectively, and the TCP
force limit is overridden within the Zone.
• It is treated as the Collaborative Zone.

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Classificat
ion

Safety Settings

Description

Setting the
Collision
Sensitivity
Reduction
Zone(p. 261)

Just like the case where force must be applied via contact with theworkpiece, collision detection and TCP force limit safety functions canbe disabled (Muting) or can be used to ease off the limit.

Setting the Tool
Orientation Limit
Zone(p. 262)

This can be used to reduce risks related to the direction of theworkpiece or tool of the robot.

Setting thecustomzone(p. 258)

Safety limits can be used differently by zones depending on thenecessity of robot application.

• Unlike other zones, the collision detection sensitivity and TCP force
limit can be set lower and higher than the universal limit
respectively in the Collision Sensitivity Reduction Zone.
• It is treated as a High Priority Zone.

• If the tool center point (TCP) is positioned within the Zone, the
TCP Orientation Limit safety function is activated.

• The selected safety limits is overridden within the Zone.
• Properties of Collaborative Zone or High Priority Zone can be
granted.

2.11.1 Robot Limits
In Robot Limits, universal safety limits of various safety functions related with robots can be set as Normal Modeand Reduced Mode.
If each robot parameter exceeds the configured safety limit, the robot activates Protective Stop. Robot limits
can be set in Robot Parameter> Safety Settings > Robot Limits.

 Note• Robot can be operated after removing the cause of Protective Stop and after deactivating
Protective Stop by resetting.
• If the cause of the Protective Stop by safety functions cannot be removed, Safety Recovery
Mode helps for restoration to Normal Operation because there is no Protective Stop by safetyfunctions.

 Caution• The safety limit is the condition in which the safety-rated monitoring function determines
whether to activate robot stop or not. When stop is completed, the position of the robot andforce applied externally may differ from the configured safety limit.

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TCP/Robot
It limits various physical parameters related to the TCP/robot. This safety function can be used in power andforce limit operation modes.
• TCP Force: It sets the force limit applied from the TCP of the robot end. It can be used for purposes ofdetecting unintended external forces.
• Mechanical Power: It sets the limit of the robot’s mechanical power. Mechanical power is proportionate to
the robot torque and speed.
• TCP Speed: It sets the speed limit of the TCP of the robot end. It can be used for speed and gap monitoring
operation mode.
• Momentum: It sets the robot momentum limit. Momentum is proportionate to speed and weight, and theimpact is the same as the physical amount.
• Collision Sensitivity: It sets the sensitivity of the collision detection function which determines whether tocontinue work or activate Protective Stop with the torque detected in each robot axis. If the sensitivity is100%, it detects collisions by external forces very sensitively, and it seldom detects collision if thesensitivity is 1%.

 NoteIf the robot has stopped due to collision detection, the cause is one of the followings:
1. TCP force limit violation
2. Collision detection violation

Joint angle speed
It sets the maximum rotation speed of each axis. The limit can be set for each axis.

 Note• The joint angle speed is set to the maximum value as a default.
• In general, certain axis speed is not set differently among each other.

Joint angle
It sets the maximum operating angle of each axis. The limit can be set for each axis.
• All axes are capable of +/- 360 degree rotation, but the joint angle value is set to a limit in Normal Mode asa default.
• If the robot is installed on the ground, it is recommended to set the operation range of the axis No.2 to +/95 degrees to prevent the collision.
• If the robot is installed on a cylindrical pillar or if you deal with a workpiece close to the robot base, thejoint angle limit can be modified to allow a wider operating range.

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PART 1. Safety Manual NoteAdding Workcell Items in the Zone allows a separate safety limit to be set for designated zones. Safety
limits which are capable of overriding are designated depending on the zone type. For more information,refer to the following link.
• Setting the Collaborative Zone(p. 259)
• Setting the Crushing Prevention Zone(p. 260)
• Setting the Sensitivity Reduction Zone(p. 261)
• Setting the Tool Orientation Limit Zone(p. 262)
• Setting the custom zone(p. 258)

2.11.2 Safety Signal I/O
This function inputs/outputs safety-related signals through a redundant terminal. If any one of the safety input/
output signals is detected that the redundant signal is different, the system determines whether it is a shortcircuit or hardware defect and stops the robot with STO Stop Mode. Safety Signal I/O can be set in Robot
Parameter > Safety Settings > Safety I/O.
• Safety Input Setting
Signal Name

Description

Emergency Stop
(L)

This is used for the purpose of receiving an Emergency Stop signal from the robot
device or connecting an Emergency Stop Switch additionally installed around therobot.
• High: Normal operation• Low: This will cause the robot to stop according to the Safety Stop Mode of
Emergency Stop set in the Safety Stop Mode.

Emergency Stop –No Loopback (L)This is used for the purpose of receiving an Emergency Stop signal from the robot
device or connecting an Emergency Stop Switch additionally installed around therobot. This signal does not enable the “Emergency Stop – excl. No Loopback Input”
safety output.
• High: Normal operation• Low: This will cause the robot to stop according to the stable stop mode of
Emergency Stop set in the Safe Stop mode.

Protective Stop(L)

It can be used in conjunction with Safeguarding Devices such as safety mats, lightcurtains, laser scanners, etc.
• High: Normal operation• Low: This will cause the robot to stop according to the stable stop mode ofProtective Stop set in the Safe Stop mode.

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Signal Name

Description

Protective Stop STO (L)• High: Normal operation• Low: It immediately cuts off the power to the motor and activates the brakes toforce the robot to stop.

Protective Stop SS1 (L)• High: Normal operation• Low: After a control stop, it cuts off the power to the motor and activates thebrakes.

Protective Stop SS2 (L)• High: Normal operation• Low: After a control stop, Safe Operating Stop

Protective Stop(L) - Auto Reset &Resume (R)

Unlike Protective Stop this signal can reset the Interrupted state and automaticallyresume operation. This enables automatic restart after Safety-rated Monitored Stop as
described in ISO TS 15066.
• Low: It follows Protective Stop - SS2.
• Rising (Low to High): Operation is automatically resumed without manual reset orresume.

 Warning• Automatically resuming operation without direct intervention may be
dangerous.
• A comprehensive risk assessment must be performed to ensure that it issafe to use this signal.
Interlock Reset(R)

This is used to reset a state changed to Interrupted by Protective Stop.
• Rising (Low to High): This allows the interlock to be reset and returned to normal
standby.

Reduced Speed
Activation (L)• High: Operates the robot at the normal speed set in the task
• Low: It operates the robot at a speed proportionately reduced from the speed set in
the task. The reduction ratio can be adjusted using the Speed Reduction Ratio slidebar. When a signal is detected within the Collaborative Zone the robot operates(more slowly) according to the smaller Speed Reduction Ratio between the main
Speed Reduction Ratio and the collaborative zone Speed Reduction Ratio.

3 Pos Enable
Switch (H)A work permission signal used when connecting the operation permission device to the
3-position switch.
• High: Jog / servo ON available in Manual Mode
Play/Resume/servo on available in Automatic Mode
• Low: Jog/servo on unavailable in Manual Mode.
Play/Resume/servo on unavailable in Automatic Mode.

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Signal Name

Description

Handguiding
Enable Switch (H)A work permission signal used when connecting the operation permission device to thehandguiding enable switch.
• High: Hand-guiding available• Low: Hand-guiding unavailable

HGC End &Resume (R)When the handguiding command is executed in automatic mode, the task program
stops. A signal used to resume the execution of the task program after the user has
executed the handguiding control.
• Rising (Low to High): The execution of the task program resumes after the
HandGuiding Control is performed.

Safety Zone
Dynamic Enable(H)

This can be used to dynamically enable or disable a safe space limit or zone. This signal
is only available if Dynamic Zone Enable is set when setting up space limit and zone.

Safety Zone
Dynamic Enable(L)

This can be used to dynamically enable or disable a safe space limit or zone. This signal
is only available if Dynamic Zone Enable is set when setting up space limit and zone.

Remote Control
Enable (L)This is used to enable Remote Control Mode.

• High: This enables space limits/zones that have been temporarily enabled or
disabled by this signal.
• Low: This disables space limits, zones that have been temporarily enabled or
disabled by this signal.

• High: This disables any space limit/zone that were temporarily enabled or disabledby this signal.
• Low: This enables any space limit and zone that were temporarily enabled or
disabled by this signal..

• High: Enables the Remote Control Mode
• Low: Disables the Remote Control Mode Note• Low active safety input signals allocated at SI1 & SI2 or SI3 & SI4 on TBSI are test-pulse
tolerant.
One test pulse with a maximum duration of 1 ms is allowed every 20 ms.
• Safety Output Setting- 35 -

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Signal Name

Description

Emergency Stop

Used to notify robot peripherals that an Emergency Stop is required in the following
situations.

(L)- When the Emergency Stop button on a robot accessory is pressed(teach pendant, smart pendant or emergency stop button box)
- When an E-stop signal is input to a dedicated safety input terminal- When an Emergency Stop (L) signal is input from a configurable input terminal to the
Safety Input- When an Emergency Stop – No Loopback(L) signal is input from a configurable input
terminal to the Safety Input• High: Normal operation• Low: Emergency stop required
Emergency Stop excl. No Loopback
Input (L)Used to notify robot peripherals that an Emergency Stop is required in the following
situations.
- When the Emergency Stop button on a robot accessory is pressed(teach pendant, smart pendant or emergency stop button box)
- When an Emergency Stop (L) signal is input from a configurable input terminal to the
Safety Input- When an Emergency Stop – No Loopback(L) signal is input from a configurable input
terminal to the Safety Input
Except when the signal is Emergency Stop – No Loopback (L) on a configurable Safety
Input.
With this signal, deadlock can be avoided because the Emergency Stop signal is not sent
back to the peripheral that sent the Emergency Stop signal.
• High: Normal operation• Low: Emergency stop required#Safe Torque Off(L)#• High: The robot is not servo off, and not in emergency stop state.
• Low: The robot is servo off and in emergency stop state.

Safe Operating
Stop (L)• High: The robot is not in the Standby State.
• Low: The robot is in the Standby State and Standstill monitoring is enabled.

Abnormal (L)• High: The robot is not in an Interrupted, Recovery, or Auto Measure state.
• Low: The robot is in either Interrupted, Recovery, or Auto Measure state.

Normal Speed (L)• High: The robot is operating at a reduced speed due to an external Reduced Speed
Activation safety input signal.
• Low: Robot operating at normal speed- 36 -

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Signal Name

Description

Reduced Speed(L)• High: Robot operating at normal speed• Low: The robot is operating at a reduced speed due to an external Reduced Speed
Activation safety input signal.

Auto Mode (L)• High: The robot is not currently in Auto Mode.
• Low: The robot is currently in Auto Mode

Manual Mode (L)• High: The robot is not currently in Manual Mode.
• Low: The robot is currently in Manual Mode.

Remote Control
Mode (L)• High: The robot is not currently in Remote Control Mode.
• Low: The robot is not currently in Remote Control Mode.

Standalone Zone(L)

• High: The robot's TCP is located in one of the Collaborative Zones.
• Low: The robot's TCP is not in any Collaborative Zone.

Collaborative
Zone (L)• High: The robot's TCP is not in any Collaborative Zone.
• Low: The robot's TCP is located in one of the Collaborative Zones.

High Priority Zone(L)

• High: The robot's TCP is not located in any Collision Sensitivity Reduction Zone
and the High Priority Zone option is not checked on the Custom Zone.
• Low: The robot's TCP is located in one of the Collision Sensitivity Reduction
Zones or the High Priority Zone option is checked on the Custom Zone.

Tool Orientation
Monitoring Zone(L)

• High: The robot's TCP is not located in any Tool Orientation Limit Zone.
• Low: The robot's TCP is located in one of the Tool Orientation Limit Zones.

Designated Zone
(L)

This is used to check whether the Tool Center Point (TCP) is located within the userdefined zone.
The Designated Zone signal defined in the Safety Output settings screen can beselected on the Zone settings screen.
• High: TCP is not within any zone associated with a Designated Zone Safety Output.
• Low: TCP is in the zone associated with a Designated Zone Safety Output.

2.11.3 Safety Stop Modes
The safety-rated monitoring function can detect limit violations and set the Stop mode used when stopping therobot.
• For more information about Stop Mode, refer to Safety-rated Stop Subfunction(p. 21).
Safety Stop Modes can be set in Robot Parameter > Safety Settings > Safety Stop Modes. For more
information about each item, refer to Safety-Rated Monitoring Function(p. 26).

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Safety Stop Mode

Description

1

Emergency Stop

It sets the Stop Mode when the Emergency Stop button of the teachpendent or the additionally installed external device is activated. (Only
STO or SS1 can be selected.)

2

Protective Stop

It sets the Stop Mode when the externally connected protective
equipment is activated.

3

Joint Angle Limit Violation

It sets the Stop Mode when the angle of each joint exceeds the set limit
range.

4

Joint Speed Limit Violation

It sets the Stop Mode when the angle joint speed of each joint exceeds
the set limit range.

5

Collision Detection

It sets the Stop Mode when the external force applied to the axis
exceeds the set limit range. Stop modes for Collaborative Zone andStandalone Zone can be set individually. In addition to STO, SS1 andSS2 , RS1 can be set to the stop mode.

6

TCP/Robot Position Limit
Violation

It sets the Stop Mode activated when the tool center point (TCP) androbot position violate the Position Limit of the Robot set in the
Workcell Manager. It also determines whether the TCP is within the
Safety Zone (Collaborative Zone, Crushing Prevention Zone,
Collision Sensitivity Reduction Zone, Tool Orientation Limit Zone,
or Custom Zone).

7

TCP Orientation
LimitViolation

It sets the Stop Mode when the tool center point (TCP) orientation
within the TCP Orientation Limit Zone exceeds the angle limit range
set by the Robot through the Workcell Manager.

8

TCP Speed Limit Violation

It sets the Stop Mode when the speed of the tool center point (TCP)
exceeds the set limit range.

9

TCP Force Limit Violation

It sets the Stop Mode when the external force applied to the tool center
point (TCP) exceeds the set limit range. Stop modes for Collaborative
Zone and Standalone Zone can be set individually. In addition to STO,
SS1 and SS2 , RS1 can be set as the Stop Mode.

10

Momentum Limit Violation

It sets the Stop Mode when the robot momentum exceeds the set limit.

11

Mechanical Power Limit
Violation

It sets the Stop Mode when the mechanical power of the robot exceeds
the set limit.

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2.11.4 Nudge Setting
If the robot is stopped by Safety Stop Mode SS2 or RS1 within a Collaborative Zone, the Interrupted state can bereset and task can be resumed with Nudge input. 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 beentered additionally.
The configurable range of Input force for Nudge is 10.00 ~ 50.00N.

 Warning• Nudge must only be used only if approved through comprehensive risk assessment.

2.11.5 Space Limit
In addition to the robot's joint angle limits in Robot Limits, it is possible to limit the robot’s operating space towithin the direct teaching coordinates. If the robot or TCP violates the Space Limit during auto operation or
manual mode, it will stop according to the Safety Stop Mode settings.
When the robot or TCP reaches the boundary of the Space Limit during direct teaching using hand guiding, a
repelling force can be felt.
By selecting the Inspection Point, it is possible to select whether the Space Limit will target the entire robot
body or only the TCP.
By selecting the Valid Space, it is possible to select whether the Inspection Point will not violate or not exceed adesignated space.
It is possible to easily designate an expanded volume from designated coordinates using Zone Margin.
Selecting Dynamic Zone Enable will enable/disable the zone according to the input signal from the I/O port. If
the input is not enabled, the corresponding Space Limit will become disabled, and the robot operates as if thecorresponding Space Limit is not present- 39 -

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2.11.6 Zone
Depending on the application, certain spaces may require different safety limits to be applied than the global
safety limits specified in the Robot Limits settings(p. 229). It is possible to set a separate safety limit only in thedesignated section using the section setting function. Overridable safety limits are designated depending on
the section type.
• Setting the Collaborative Zone(p. 259)
• Setting the Crushing Prevention Zone(p. 260)
• Setting the Sensitivity Reduction Zone(p. 261)
• Setting the Tool Orientation Limit Zone(p. 262)
• Setting the custom zone(p. 258)
The Valid Space setting makes it possible to specify whether the overridden safety limit applies inside or outside
the section.
The Zone Margin setting makes it possible to easily specify how the volume is scaled relative to the specified
coordinates.
Safety Limits overridden in a zone include the following priorities:• If a Zone is set and some Safety Limits are overridden, those Safety Limits override over the global
Safety Limits.
• Safety Limits overridden in a High Priority Zone override over Safety Limits overridden in a nonprioritized zone.
• If there are multiple Safety Limits for a type of safety function at a particular TCP location, the mostrestrictive Safety Limit in the nested zone takes precedence.
• Because High Priority Zones are nested, if there are multiple safety limits for a type of safety function at aparticular TCP location, the least restrictive Safety Limit overrides.

 WarningHigh Priority Zones override other zones and global robot limit settings. If multiple High Priority Zones
are nested, the safety function overrides the least restrictive safety limit. For safety reasons, HighPriority Zones should be the minimum possible size.

Selecting Dynamic Zone Enable will enable/disable the zone according to the input signal from the I/O port. If
the input is not enabled, the corresponding Space Limit will become disabled, and the robot operates as if thecorresponding Space Limit is not present

2.12 Other Safety Measures
For user safety and robot safety recovery, we provide a Safety Recovery mode and an Unpowered Operationmode.

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PART 1. Safety Manual• Safety Recovery Mode: In the event of an error with a persistent safety violation or packaging of a robot,
the robot can be set to a user-specified position and angle in the Safety Recovery Mode. For more
information about Safety Recovery mode, refer to Using the Recovery Module(p. 195).
• Unpowered Operation: This function controls the joints of the robot by external force by releasing only
the brake with the power to the motor cut off. This function is used when Safety Recovery Mode or
Handguiding is not able to return the robot to a normal status. With the Unpowered Operation mode, thebrake of each joint can be engaged or disengaged by the user. For more information on unpowered
operation, see Using the Backdrive Module(p. 193).

2.13 Validity and Responsibility
This manual does not provide information about the design, installation and operation methods of robot
applications integrated with other system. In addition, this manual does not provide information that may
influence the safety of the integrated system.
The system administrator must install the robot in a way that observes various safety requirements according
to the related national standards and regulations. In addition, the staff in charge of integrating and managing
the robot in a system must ensure that all related national safety legislation and regulations are observed. The
entity or user of the final system in which the robot is integrated has the following responsibilities, and such
responsibilities are not limited to the items listed below.
• Risk assessment of the system with the robot integrated• Installation and removal of safety devices according to the outcome of the risk assessment performed• Confirmation of whether the system is properly designed, set up and installed• Establishment of system operation and instructions• Management of suitable safety settings in the software• Prevention of users modifying safety devices• Validity check of design and installation of integrated system• Indication of contact information or important notifications related to use and safety• Provision of technical documents including various manuals• Provision of information on standards and legislation applied: http://www.doosanrobotics.com/
Compliance with the safety requirements in this manual does not mean all risks can be prevented.

2.14 Disclaimer
Doosan Robotics continues to upgrade product reliability and performance, and Doosan Robotics has the rightto upgrade the product without notification. Doosan Robotics endeavors to ensure that all contents in thismanual are accurate. However, it does not assume responsibility for errors or missing information.

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2.15 Stop Distance and Stop Time2.15.1 Measurement Methods and Conditions• Stop distance is the angle traveled from the moment a stop signal is generated to the moment all
manipulator stop operation.
• Stop time is the time from the moment a stop signal is generated to the moment all manipulator stop
operation.
• Stop distance and stop time data are provided for Joint 1, Joint 2 and Joint 3, which have large travel
distances.
• The movement of an overlapping axis can cause a longer stop distance.
• Stop distance and stop time data are defined according to KS B ISO 10218-1:2011 (3.2.0-en_US)
Declaration and Certification5.

Stop Category
Stop Category

Description

1

Stop Category 1

The stop distance and stop time of Joint 1 (Base) and Joint
2 (Shoulder) are measured at 33%, 66% and 100% of the
maximum speed, stretch level and load, respectively. The
stop distance and stop time of Joint 3 (elbow) is measured
at 33%, 66% and 100% of maximum speed and load. The
stretch level during Joint 3 measurement is locked at
maximum because of the lower arm length and completely
flat wrist.

2

Stop Category 0

The stop distance and stop time of Joint 1 (Base), Joint 2(Shoulder) and Joint 3 (Elbow) are measured at maximum
speed, stretch level and load. The axes of Joint 2 and Joint 3
are parallel to each other, so an impact caused by forced
stop on one part may cause a slip on the other side. The
angle deviation is also measured.

Measurement Poses and Conditions
Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during horizontal
movement.
Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and when the
robot is stopped in a downward movement vertical to the ground.

5 https://doosanrobotics-manual.atlassian.net/wiki/spaces/TESMT/pages/6362321/%283.2.0-

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PART 1. Safety Manual NoteThe measurements are the result of the worst case. Measurement may vary according to circumstances
The pose for 33%, 66%, and 100% of extension
Joint 1

Joint 2

Joint 3100%extension
Stop category
033% extension
Stop category
1-66% extension
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Joint 1

Joint 2

Joint 3100%extension
Stop category1

The pose when the stop is initiated and the measured angle (Joint 1)
Joint 2

Joint1

No slip,

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Joint 1

Joint 2

Joint32.15.2 M1013 Stop Category
M1013 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)- 45 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)- 46 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)- 47 -

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M1013 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Joint 1

Stopping distance (rad)Stopping time (ms)

0.144

136

Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)315

Joint 2 ()

0.15

Joint 3 (

)

0.346

Distance (

)

0.314

Joint 3Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)225

Joint 2 (

)

0.161

Joint 3 (

)

0.153

Distance (

)

0.279

• The joint 2 and joint 3 angles are refer to,,- 48 -in Measurement Poses and Conditions(p. 42).

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2.15.3 M0609 Stop Category
M0609 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)- 49 -

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Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)- 50 -

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Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)M0609 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Joint 1

Stopping distance(rad)Stopping time(ms)

0.133

92

Joint 2
Extension=100%, Speed=100%, Payload=100%- 51 -

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Stopping distance(rad)Stopping time(ms)305

Joint 2 (

)

0.171

Joint 3 ()

0.05

Distance (

)

0.195

Joint 3Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)Stopping time(ms)113

Joint 2 (

)

0.034

Joint 3 (

)

0.122

Distance (

)

0.151

• The joint 2 and joint 3 angles are refer to,,in Measurement Poses and Conditions6.

2.15.4 M0617 Stop Category
M0617 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)6 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675- 52 -

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Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)- 53 -

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Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)M0617 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Joint 1

Stopping distance(rad)Stopping time(ms)

0.095

89

Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)Stopping time(ms)326Joint 2 (

)

0.104

Joint 3 (

)

0.336

Distance (

)

0.26

Joint 3Extension=100%, Speed=100%, Payload=100%- 55 -

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Stopping distance(rad)Stopping time(ms)173

Joint 2 (

)

0.079

Joint 3 (

)

0.119

Distance (

)

0.185

• The joint 2 and joint 3 angles are refer to,,in Measurement Poses and Conditions7.

2.15.5 M1509 Stop Category
M1509 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)

7 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675- 56 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)- 57 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)- 58 -

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M1509 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Joint 1

Stopping distance(rad)Stopping time(ms)

0.138

109

Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)Stopping time(ms)327

Joint 2 (

)

0.105

Joint 3 (

)

0.492

Distance (

)

0.338

Joint 3Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)Stopping time(ms)197

Joint 2 (

)

0.155

Joint 3 (

)

0.134

Distance (

)

0.258

• The joint 2 and joint 3 angles are refer to,,in Measurement Poses and Conditions8.

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2.15.6 H2017 Stop Category
H2017 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Axis 1

Stopping distance (rad)Stopping time (ms)0.12483

98.867

Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)Axis 2

0.09471296.568

Axis 30.44703

Joint 3Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)Axis 20.14045178.785

Axis 30.12168

H2017 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)- 60 -

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Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)- 61 -

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Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)- 62 -

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Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)2.15.7 H2515 Stop Category
H2515 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)- 63 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad)Stop Distance at 66% of Max. Load (rad)Stop Distance at Max. Load (rad)Stop Time at 33% of Max. Load (ms)- 64 -

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Stop Time at 66% of Max. Load (ms)Stop Time at Max. Load (ms)Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad)Stop Time at Max. Stretch Level (ms)- 65 -

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H2515 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%

Axis 1

Stopping distance (rad)Stopping time (ms)0.12483

98.867

Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)Axis 2

0.09471296.568

Axis 30.44703

Joint 3Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad)Stopping time (ms)Axis 20.14045178.785

Axis 30.12168

2.16 Upper/Lower Threshold Range and Default Value of Safety
Parameters2.16.1 M1509
Parameters

Joint Angle
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-360

360

-95~95-360

360-95~95

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Joint Speed
LimitsRobot/TCP
LimitsSafety I/O

J3 (degree)

-150

150

-135~135

-150

150

-135~135

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J1 (degree/s)

0

150

150

0

150

150

10

J2 (degree/s)

0

150

150

0

150

150

10

J3 (degree/s)

0

180

180

0

180

180

10

J4 (degree/s)

0

225

225

0

225

225

10

J5 (degree/s)

0

225

225

0

225

225

10

J6 (degree/s)

0

225

225

0

225

225

10

Force (N)

0

800

162

0

800

81

-

Power (W)

0

160
0

650

0

160
0

120

-

Speed (mm/s)

0

700
0

2000

0

700
0

1000

-

Momentum(kgm/s)

0

135

68

0

135

40

-

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed Reduction
Ratio (%)

-

-

-

1

100

20

-

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User manual(V3.2.0)

PART 1. Safety Manual

2.16.2 M1013
Parameters

Joint Angle
LimitsJoint Speed
LimitsRobot/TCP
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-360

360

-95~95-360

360-95~953/-3J3 (degree)

-160

160

-135~135

-160

160

-135~135

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J1 (degree/s)

0

120

120

0

120

120

10

J2 (degree/s)

0

120

120

0

120

120

10

J3 (degree/s)

0

180

180

0

180

180

10

J4 (degree/s)

0

225

225

0

225

225

10

J5 (degree/s)

0

225

225

0

225

225

10

J6 (degree/s)

0

225

225

0

225

225

10

Force (N)

0

550

144

0

550

72

-

Power (W)

0

160
0

600

0

160
0

100

-

Speed (mm/s)

0

800
0

2000

0

800
0

1500

-

Momentum(kgm/s)

0

165

82

0

165

50

-

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User manual(V3.2.0)

PART 1. Safety Manual

Safety I/O

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed Reduction
Ratio (%)

-

-

-

1

100

20

-

2.16.3 M0617
Parameters

Joint Angle
LimitsJoint Speed
LimitsRobot/TCP
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-360

360

-95~95-360

360-95~953/-3J3 (degree)

-165

165

-145~145

-165

165

-145~145

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J1 (degree/s)

0

100

100

0

100

100

10

J2 (degree/s)

0

100

100

0

100

100

10

J3 (degree/s)

0

150

150

0

150

150

10

J4 (degree/s)

0

225

225

0

225

225

10

J5 (degree/s)

0

225

225

0

225

225

10

J6 (degree/s)

0

225

225

0

225

225

10

Force (N)

0

500

108

0

500

54

-

Power (W)

0

160
0

600

0

160
0

100

-

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User manual(V3.2.0)

PART 1. Safety Manual

Safety I/O

Speed (mm/s)

0

800
0

2000

0

800
0

1500

-

Momentum(kgm/s)

0

180

90

0

180

55

-

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed Reduction
Ratio (%)

-

-

-

1

100

20

-

2.16.4 M0609
Parameters

Joint Angle
LimitsJoint Speed
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-360

360

-95~95-360

360-95~953/-3J3 (degree)

-150

150

-135~135

-150

150

-135~135

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J1 (degree/s)

0

150

150

0

150

150

10

J2 (degree/s)

0

150

150

0

150

150

10

J3 (degree/s)

0

180

180

0

180

180

10

J4 (degree/s)

0

225

225

0

225

225

10

J5 (degree/s)

0

225

225

0

225

225

10

J6 (degree/s)

0

225

225

0

225

225

10

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User manual(V3.2.0)

PART 1. Safety Manual

Robot/TCP
LimitsSafety I/OForce (N)

0

400

96

0

400

48

-

Power (W)

0

160
0

300

0

160
0

80

-

Speed (mm/s)

0

700
0

2000

0

700
0

1000

-

Momentum(kgm/s)

0

75

38

0

75

23

-

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed Reduction
Ratio (%)

-

-

-

1

100

20

-

2.16.5 H2515
Parameters

Joint Angle
LimitsJoint Speed
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-125

125

-95~95-125

125-95~953/-3J3 (degree)

-160

160

-145~145

-160

160

-145~145

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J1 (degree/s)

0

100

100

0

100

100

10

J2 (degree/s)

0

80

80

0

80

80

10

J3 (degree/s)

0

100

100

0

100

100

10

- 71 -

User manual(V3.2.0)

PART 1. Safety Manual

Robot/TCP
LimitsSafety I/O

J4 (degree/s)

0

180

180

0

180

180

10

J5 (degree/s)

0

180

180

0

180

180

10

J6 (degree/s)

0

180

180

0

180

180

10

Force (N)

0

1200

243

0

1200

122

-

Power (W)

0

1600

800

0

1600

650

-

Speed (mm/s)

0

2500

2000

0

2500

1500

-

Momentum(kgm/s)

0

400

200

0

400

122

-

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed
Reduction Ratio
(%)

-

-

-

1

100

20

-

2.16.6 H2017
Parameters

Joint Angle
LimitsNormalReduced

Toler
ance
(+/-)

Min

Max

Default

Min

Max

Default

J1 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J2 (degree)

-125

125

-95~95-125

125-95~953/-3J3 (degree)

-160

160

-145~145

-160

160

-145~145

3/-3

J4 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3J5 (degree)

-360

360

-135~135

-360

360

-135~135

3/-3

J6 (degree)

-360

360

-360~360

-360

360

-360~360

3/-3- 72 -

User manual(V3.2.0)

PART 1. Safety Manual

Joint Speed
LimitsRobot/TCP
LimitsSafety I/O

J1 (degree/s)

0

80

80

0

80

80

10

J2 (degree/s)

0

80

80

0

80

80

10

J3 (degree/s)

0

80

80

0

80

80

10

J4 (degree/s)

0

180

180

0

180

180

10

J5 (degree/s)

0

180

180

0

180

180

10

J6 (degree/s)

0

180

180

0

180

180

10

Force (N)

0

1200

243

0

1200

122

-

Power (W)

0

1600

800

0

1600

650

-

Speed (mm/s)

0

2500

2000

0

2500

1500

-

Momentum(kgm/s)

0

400

200

0

400

122

-

Collision
Detection
Sensitivity (%)

1

100

75

-

-

-

-

Speed
Reduction Ratio
(%)

-

-

-

1

100

20

-

- 73 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

3 PART 2. Starting Up the Robot
From Starting Up the Robot, the user can learn the overall process from robot installation to robot operation.
Install the robot according to the following 4 steps, and create a task program to execute:• Step 1. Robot Installation(p. 76) : Install the robot and connect the controller and teach pendant.
• Step 2. Tool Installation and I/O Testing(p. 85) : Install the tool and test the I/O signal.

3.1 Journey Map
The journey map lists the process from the installation of Doosan Robotics robot to actual operation insequential order. Refer to each guide item to begin using the robot.

3.1.1 Step 1. Robot Installation

1

2

Classificatio
n

Work

Robot
Installation

Initial startUp

MandatoryWork

DifficultyTime(Minutes)

Remove packing

EASY

3

Connect cable to the controller

EASY

1

Secure the robot base

EASY

3

Connect controller to robot

EASY

1

Connect power to controller

EASY

1

Position controller

EASY

1

Power-up controller

EASY

3

Disengage emergency stop button

EASY

1

Disengage packaging pose

EASY

3

Servo OffEASY

1- 74 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

3.1.2 Step 2. Tool Installation and I/O Testing
Classificatio
n

Work

1

Tool
Installation

2

I/O Testing

MandatoryWork

DifficultyTime(Minutes)

Install tool

EASY

5

Turn system power off

EASY

1

Connect wires

NORMAL

10

Turn system power on

EASY

1

Test controller and flange I/O

NORMAL10- 75 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

3.2 Step 1. Robot Installation
In this step, you can learn how to install and initially start up the Doosan Robotics robot.

 Caution• Before installing the robot, make sure to read and follow Cautions during Installation(p. 114) andInstallation Environment(p. 116).
• For more information about robot installation, refer to PART 3. Installation Manual(p. 90).

3.2.1 Remove packing
MANDATORY EASY 3 MIN
Upon purchasing the Doosan Robotics robot, two boxes containing the robot and controller will be delivered.
Remove the packing and check the contents. For more information about the components, refer to Component
Check(p. 90).
1. The manipulator is contained in the larger box.
2. The controller is contained in the smaller box.
3. The teach pendant and robot cables are contained in the accessory box

 Caution• To ensure safety during delivery, all products are wrapped and packed using solid protective
materials, so take caution when removing them from the box.
• When removing the product from the box, take caution not to damage to products due tofalling.

3.2.2 Connect cable to the controller
MANDATORY EASY 1 MIN- 76 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

Connect the teach pendant and robot cable to the controller.
1. Push the teach pendant cable into the corresponding controller connector until a click is heard. This will
prevent the cable from becoming loose.
2. Push the robot cable’s opposite end into the corresponding controller connector until a click is heard toprevent the cable from becoming loose.

 Caution• Make sure to check that the pins in the cable end are not damaged or bent before connecting
the cable.
• If the noise generated by electromagnetic waves causes issues, it is necessary to install a ferrite
core to ensure normal operation. For more information about the ferrite core installation
location, refer to the followings:• Connecting Manipulator to Controller(p. 121)
• Connect Controller to Teach Pendant(p. 123)

3.2.3 Secure the robot base
EASY 3 MIN

When securing the robot base and when installing a tool on the tool flange, the following additional
components are required:• M8 hexagonal wrench bolt: 4• Φ5 place marker pin 2- 77 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

Use M8 in the four holes in the robot base to secure the robot. For more information, refer to Securing the
Robot(p. 117).
• It is recommended to use a tightening torque of 20 Nm to tighten the bolts. Use washers (spring-flat) toprevent loosening by vibration.
• Use two Φ5 place marker pins to accurately install the robot in a fixed location.

3.2.4 Connect controller to robot
MANDATORY EASY 1 MIN

Connect the robot cable to the corresponding controller connector and place a securing ring on it to prevent thecable from becoming loose.
• Push the robot cable’s opposite end into the corresponding controller connector until a click is heard toprevent the cable from becoming loose.

3.2.5 Connect power to controller
MANDATORY EASY 1 MIN
To supply power to the controller, connect the power cable of the control box to a standard IEC power outlet.
• After connecting the power cable, make sure that the robot is properly grounded (electrical groundconnection).
• Establish a common ground for all equipment in the system with unused bolts related to the groundsymbol inside the controller. The ground conductor must satisfy the maximum current rating of thesystem.
• For more information, refer to Connect Power to Controller(p. 125).

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User manual(V3.2.0)

PART 2. Starting Up the Robot

The power supply must satisfy minimum requirements such as grounding and circuit breakers. The electrical
specifications of the included AC controller are as follows:
Parameter

Specifications

Input Voltage

100 – 240 VAC

Input Power Fuse (@100-240V)

15 A

Input Frequency

47 – 63 Hz

Refer to the following appendix for optional controller information.

3.2.6 Position controller
MANDATORY EASY 1 MINWhen installing the controller on the floor, secure at least 50 mm of space on each side of the controller toenable ventilation.

- 79 -

User manual(V3.2.0)

PART 2. Starting Up the Robot Caution• Ensure that the cables have curvatures greater than the minimum curvature radius. For more
information, refer to Routing of Manipulator Cable and Teach Pendant Cable(p. 124).

3.2.7 Power-up controller
MANDATORY EASY 3 MIN
The power switch of the controller is located at the bottom of the controller.

1. Press the Power button on the bottom of the controller. The power for systems such as therobot, controller, teach pendant and smart pendant is turned on.

2. Press and hold the power button (Fig. 2) until the teach pendant screen powers up. The teach pendant LED(Fig. 1) and flange LED (Fig. 3) will blink red until the robot controller connects to the network.

- 80 -

User manual(V3.2.0)

PART 2. Starting Up the Robot• For more information about equipment other than the teach pendant, refer to 시스템 전원 켜기/끄기9.

 NoteLED positions of each Doosan Robotics robot series are as follows:• A: Flange LED• B: Axis 1 LED

9 https://doosanrobotics-manual.atlassian.net/wiki/pages/createpage.action?

fromPageId=6365162&linkCreation=true&spaceKey=TESMT&title=%EC%8B%9C%EC%8A%A4%ED%85%9C+%EC%A0%84%EC%9B%90+%EC%BC%9C%EA%B8%B0%2F%EB%81%84%EA%B8%B0- 81 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

3.2.8 Disengage emergency stop button
MANDATORY EASY 1 MIN- 82 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

After robot installation and after the initial system boot up, a warning popup is displayed as the emergency stop
button of the teach pendant is pressed. The emergency stop button must be disengaged in order to operate therobot.
• Twist the emergency stop button clockwise to disengage the emergency stop state.

3.2.9 Disengage packaging pose
MANDATORY EASY 3 MIN

The robot is in its packaging pose to allow easy transportation or packaging. To use the robot, it is necessary todisengage the packaging pose. As the robot maintains a pose that exceeds the Joint Angle Limit when inpackaging pose, it is impossible to set Servo On status due to safety limit violation. The robot LED is illuminated
red in this state.

 NoteIf there is a case in which you need to package the robot due to relocating, set the package pose by using
move with packaging pose in the packaging mode.

The process of releasing the packaging pose is as follows:- 83 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

Menu Items
Item

Description

1

Model Name

The name of the connected robot model appears.

2

Pack/Unpack

Either Pack or Unpack can be selected.

3

Packaging Pose/Joint Limit

The pose and joint limit values appear.

4

Speed Ratio

The speed of the pack or unpack mode can be
adjusted via a slider or input.

To configure the packaging mode, follow these steps:
1. Tap the Recovery menu in the header pane.

2. Select the Packaging Mode tab.

- 84 -

User manual(V3.2.0)

PART 2. Starting Up the Robot

3. Tap the Servo On to Start Recovery button to enable packaging mode.

4. The robot automatically moves to the set packaging pose.
• The Pack button allows you to put the robot in the Pack position and the Unpack button allows you
to put the robot in the Default Home Position.

3.2.10 Servo Off
MANDATORY EASY 1 MIN

Servo on status is the status where the robot is ready with power supplied to robot joints to modify the robot
pose.
Press Servo Off button to cut off power supplied to the robot joints and stop the robot. For more information,refer to Overview of Servo On(p. 192).

3.3 Step 2. Tool Installation and I/O Testing
In this step, you can learn how to install a tool on the flange at the end of the robot and how to perform the I/O
test.

3.3.1 Install tool
MANDATORY EASY 5 MIN
Use four M6 bolts to secure the tool on the tool flange.
• It is recommended to use tightening torque of 9 Nm to tighten the bolts.
• Use a Φ6 place marker pin to accurately install the robot in a fixed location.

- 85 -

User manual(V3.2.0)

PART 2. Starting Up the Robot Note• For more information about the tool flange, refer to Connecting the Robot and Tool(p. 120).
• Methods of securing the tool may vary according to the tool. For more information about tool
installation, refer to the manual provided by the tool manufacturer.

No.

Item

1

Tool

2

Bracket

3

Cable

4

Tool Flange

3.3.2 Turn system power off
MANDATORY EASY 1 MIN
Press the shutdown button on the teach pendant or press and hold the power button on the upper left of theteach pendant for 2 seconds to turn off the system.
1. The shutdown popup is displayed on the screen.
2. Press the OK button on the shutdown popup to properly shutdown the system.

- 86 -

User manual(V3.2.0)

PART 2. Starting Up the Robot Caution• Press and hold the power button for more than 4 seconds to force system shutdown.
• Forced shutdown may cause robot and controller failure.

3.3.3 Connect wires
MANDATORY NORMAL 10 MIN
Connect the necessary cables to the flange I/O connectors after the tool is secured. The pin map of the flange I/
O must be checked.
• When power is supplied to the robot, the fifth terminal of each connector always outputs 24V.
• For more information, refer to Flange I/O(p. 128).

 Caution• Make sure to cut off the robot’s power when connecting the tool and gripper.
• Make sure to configure tool and gripper measures to prevent workpieces falling from the tool
when the robot power is cut off.

 Note- 87 -

User manual(V3.2.0)

PART 2. Starting Up the RobotTo control/monitor the robot using an external device, connect the controller I/O or connect to a
network, such as Modbus TCP, PROFITNET or EtherNet/IP.
• For more information, refer to Controller I/O Connection(p. 132).
• For more information, refer to Network Connection(p. 150).

3.3.4 Turn system power on
MANDATORY EASY 1 MIN
Turn the system power on again. Press and hold the power button until the teach pendant screen powers up.

3.3.5 Test controller and flange I/O
MANDATORY NORMAL 10 MIN

The teach pendant features a function capable of testing the operation of the tool connected to the flange I/O.

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User manual(V3.2.0)

PART 2. Starting Up the Robot

The following tests can be performed through Status > I/O Overview or I/O Test of the teach pendant screen.
For more information, refer to each item.
• Controller Digital Input(p. 291)
• Controller Digital Output(p. 292)
• Controller Analog Input(p. 292)
• Controller Analog Output(p. 293)

- 89 -

User manual(V3.2.0)

PART 3. Installation Manual

4 PART 3. Installation Manual
The installation manual describes how to install the robot and controller, as well as their specifications.

4.1 Product Introduction
4.1.1 Component Check

Manipulator

Controller (optional: see Appendix)

Teach pendantController power cable

Manipulator connection cable

User manual / quick guide- 90 -

User manual(V3.2.0)

PART 3. Installation Manual

4.1.2 Names and Functions
Manipulator
Names of Parts

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- 91 -

User manual(V3.2.0)

PART 3. Installation Manual

Key Features

No.

Item

Description

1

Cockpit[Optional] Operation buttons for direct teaching and operation

2

Tool Flange

Area to install tools.

3

Flange LED

Displays the robot status with different colors. For more information about robot
status, refer to the Status and Flange LED Color for Each Mode(p. 15).

 Version: H Series
The H Series is supplied with an additional LED on the 1-axis indicating thesame state and color.
4Flange I/O

I/O port for tool control.
(Digital input 3ch, output 3ch)

5Connector

Used for supplying power to and communication of the robot.

- 92 -

User manual(V3.2.0)

PART 3. Installation ManualController

No.

Item

Description

1

I/O connection
terminal(internal)

It can be connected with other robots' controllers or peripherals.

2

Network
connection
terminal

Used for connecting to the network connection terminal inside the controller touse Laptops, TCP/IP devices, and Modbus equipment.

3

Power
connection
terminal/switch

Used for connecting the mains power of the controller to turn it on or off.

4

USB connection
terminal

Used to store logs created while the robot is operating in the USB storage, or
export and import tasks.

5

Manipulator
cable connection
terminal

Used for connecting the manipulator cable to the controller.

6

Teach pendant
cable connection
terminal

Used for connecting the teach pendant cable to the controller.

For more information, refer to Power on/off the system(p. 177).

- 93 -

User manual(V3.2.0)

PART 3. Installation Manual Note• If you choose an optional controller, check the user manual in the appendix to connect before
use.

Teach pendant

No.

Item

Description

1

Power Button

Used to turn ON/OFF the main power of the teach pendant.
For more information, refer to Power on/off the system(p. 177).

2

Power LED

Turns ON when power is supplied.

3

Emergency stop
buttonIn case of an emergency, press the button to stop robot operation.

4

Hand-Guiding
buttonPress and hold the button to move the robot freely into a desired pose.

 Note• If the teach pendant needs to be protected and mounted during operation, the soft coversupplied by us makes it safer and easier to use.

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4.1.3 System Configuration

No.

Name

Description

1

Teach pendantThis device manages the entire system and is capable of teaching the robot
specific poses or making settings related to the manipulators and controllers.

2

Controller

Used to adjust the robot's movement according to the pose or movement set
by the teach pendant. It features various I/O ports that allow for theconnection and use of various types of equipment and devices.

3

Manipulator

This is an industrial collaborative robot that can be used with a variety of tool
attachments to transport objects or assemble parts.

A

Command/
Monitoring

B

Power Supply/
Network

4.1.4 Product Specifications, General
M Series

Technical Data

M0609

Refer to .M0609(p. 160)

M0617

Refer to .M0617(p. 163)

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M Series

Technical Data

M1013

Refer to .M1013(p. 162)

M1509

Refer to .M1509(p. 161)

H Series

Technical Data

H2017

Refer to .H2017(p. 165)

H2515

Refer to .H2515(p. 166)

4.1.5 Robot Specifications
Basic specifications
Model Name

M0609

M0617

M1013

M1509

H2017

H2515

Weight

27 kg

34 kg

33 kg

32 kg

74 kg

72 kg

Payload within Work
Radius

6 kg

6 kg

10 kg

15 kg

20 kg

25 kg

Max. Work Radius

900 mm1700 mm1300 mm

900 mm

1700mm

1500mmNumber of Axes

6

Max. TCP Speed

Over 1 m/s

Position Repeatability(ISO 9283)±0.03 mm±0.1 mm±0.05 mm±0.03 mm±0.1 mmProtection Rating

IP 54

Noise

< 65 dB

Installation Direction

Any Orientation

Controller andTeaching Pendant

Doosan Controller & Teach Pendant

Floor Only

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Model Name

M0609

M0617

M1013

Vibration and
Acceleration10≤f<57㎐ - 0.075mm amplitude

ImpactMax Amplitude : 50㎨(5G)

M1509

H2017

H2515

57≤f≤150㎐ – 1G

* Time :30㎳ , Pluse : 3 of 3 (X,Y,Z)
OperatingTemperature

0 ℃ ~45 ℃ (273K to 318K)

Storage Temperature-5 ℃ ~50 ℃ (268K to 323K)

Humidity

20%~80%Axis Specification
Model
Name

M0609

M0617

M1013

M1509

H2017

H2515

Operating Angle
J1±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)

J2±360° (TP:±95°)

±360° (TP:±95°)

±360° (TP:±95°)

±360° (TP:±95°)

±125° (TP:±95°)

±125° (TP:
±95°)

J3

±150° (TP:±125°)±165° (TP:±145°)±160° (TP:±135°)±150° (TP:±125°)±160° (TP:±135°)±160° (TP:±135°)

J4±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)

J5±360° (TP:±135°)±360° (TP:±135°)±360° (TP:±135°)±360° (TP:±135°)±360° (TP:±135°)±360° (TP:±135°)

J6±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)±360° (TP:±360°)

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Model
Name

M0609

M0617

M1013

M1509

H2017

H2515

J1

150 °/s

100 °/s

120 °/s

150 °/s

100 °/s

100 °/s

J2

150 °/s

100 °/s

120 °/s

150 °/s

80 °/s

80 °/sJ3

180 °/s

150 °/s

180 °/s

180 °/s

100 °/s

100 °/sJ4225 °/s

225 °/s

225 °/s

225 °/s

180 °/s

180 °/sJ5

225 °/s

225 °/s

225 °/s

225 °/s

180 °/s

180 °/sJ6

225 °/s

225 °/s

225 °/s

225 °/s

180 °/s

180 °/s

Robot operating space
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M0617- 99 -

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M1013- 100 -

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M1509- 102 -

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PART 3. Installation ManualH2017- 103 -

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PART 3. Installation ManualMax. Payload within operating space
The maximum payload of the robot within its operating space changes according to the distance from thecenter of gravity. Payload per distance is as follows: NoteThis load diagram assumes a small tool load volume. Tools with a larger volume will have greater
limitations in payload above the tool’s center of gravity compared to a tool with an equal weight but
smaller volume, and in such cases, vibration may occur.

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M0609- 107 -

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M0617- 108 -

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M1013- 109 -

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M1509- 110 -

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PART 3. Installation ManualH2017- 111 -

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H2515

Allowed Moment and Inertia
The allowed moment and inertia for the J4-J6 robot are as follows:
Model
Name

M0609

J4

J5

J6

AllowedMomentInertia

AllowedMomentInertia

AllowedMomentInertia

36 Nm

1.6 kg㎡

36 Nm

1.6 kg㎡

36 Nm

1.6 kg㎡

145 Nm

8.0 kg㎡

81Nm

4.5 kg㎡

36 Nm

2.0 kg㎡

M0617
M1013
M1509
H2017
H2515

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Tool Center Point (TCP)
Refer to the figure below for TCP.

4.1.6 Nameplates and Labels
Be careful not to remove or damage labels attached to the robot and controller.

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PART 3. Installation Manual NoteIf you choose an optional controller, the application position may differ, so check the user manual in the
appendix.

4.2 Installation
4.2.1 Cautions during Installation
 Warning• Industrial robots must be installed with careful consideration given to the inspection standards
defined by the Regulations and Safety Inspection of the Occupational Safety and HealthStandards Announcement (if the robot is subject to inspection).
• Secure sufficient space for installation before installing the robot. Installing the robot in a place
where sufficient space is not secured may result in damage to the robot or injury to the user.
• When connecting the power plug and power cable to the product, do not touch them with wet
hands. This may cause electrocution or injury. Please use the tool center position information
provided as the maximum payload of the robot within the work area may vary depending on
the center of gravity distance.
• Safety devices to be connected to the controller must be connected to a safety contact input
terminal or a #configurable# digital I/O set as #Safety I/O# using dual signals. Safety devices to- 114 -

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be used in connection with the controller must be connected to the safety contact input
terminal or the configurable digital IO set as Safety IO (input/output) using dual signals.
• The operating handle of the power disconnect should be installed so that it is easily accessible,
considering that it depends on the location where the plug is connected and the environment
in which the robot is installed.

 Warning• Industrial robots must be installed with careful consideration given to the inspection standards
defined by the Regulations and Safety Inspection of the Occupational Safety and HealthStandards Announcement (if the robot is subject to inspection).
• Secure sufficient space for installation before installing the robot. Installing the robot in a place
where sufficient space is not secured may result in damage to the robot or injury to the user.
• When connecting the power plug and power cable to the product, do not touch them with wet
hands. This may cause electrocution or injury. Please use the tool center position information
provided as the maximum payload of the robot within the work area may vary depending on
the center of gravity distance.
• Safety devices to be connected to the controller must be connected to a safety contact input
terminal or a #configurable# digital I/O set as #Safety I/O# using dual signals. Safety devices tobe used in connection with the controller must be connected to the safety contact input
terminal or the configurable digital IO set as Safety IO (input/output) using dual signals.
• The operating handle of the power disconnect should be installed so that it is easily accessible,
considering that it depends on the location where the plug is connected and the environment
in which the robot is installed.
• In the case of the H series, it is possible to use only the floor standard, and to prevent safety
accidents, be sure to refer to the “H Series Handling Guide” in Appendix F provided inconsideration of the dead load of the robot during installation.

Lifting points for transport and installation• In case of relocating the M series to an installation location, please carry it by lifting the shaded area
described below. To prevent accidents, please lift and carry the robot with sufficient personnel (2 or more
people) simultaneously considering the weight of each type of robot.

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PART 3. Installation Manual• Please be careful of the accidents caused by falling while carrying the robot.

4.2.2 Installation Environment
Secure sufficient space to allow the robot to move freely. Check the operating space of the robot to ensure thatthe robot does not collide with external elements.

Installation Location Check
Before installing the robot, secure sufficient space and consider the following:• Install the robot on a firm, even surface.
• Install the robot in a location with no water leakage and constant temperature and humidity.
• Check whether there are flammable and explosive materials near the installation location.

 Caution• Installing the robot in locations other than the recommended locations may result in reduced
robot performance and product life.

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Robot Work Area Check
Secure installation space considering the operating space of the robot. The operating space varies according to
the robot model.

 Note• The grayed areas in the figure are areas where the robot has difficulty performing work. Within
this area, the speed of tools is low but the speed of joints is high, so it becomes difficult toperform risk assessment in this area because the robot operates inefficiently. Therefore, it is
not recommended to operate the tool passing through the cylindrical section on the top andbottom of the base.

4.2.3 Hardware Installation
Install the robot, controller and teach pendant, the key components of the system in the work area, and supply
power to them before operating the robot. The installation of each component is as follows:

Securing the Robot
Use M8 bolts in the four 9.0 mm holes on the manipulator base to secure the robot.

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PART 3. Installation Manual• It is recommended to use tightening torque of 20 Nm to tighten the bolts.
And use a washer(plain or spring) to prevent loosening of the tension caused by vibration.
• Use a Φ5 place marker pin to accurately install the manipulator in a fixed location.

The manipulator base drawing and four M8 bolts are used (M series). Unit [mm]

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The manipulator base drawing and four M8 bolts are used (H series). Unit [mm]

 Warning• Tighten the bolts all the way to prevent loosening during manipulator operation.
• Install the manipulator base on a solid surface that can withstand the load generated during
operation (10 times the maximum torque and five times the weight of the robot).
• The robot will interpret manipulator base vibration as a collision and engage the emergency
stop. Therefore, for installation locations that automatically shift position, do not install therobot base in a location with high movement acceleration.
• Mount the manipulator arm in a specific location using appropriate methods. The mounting
surface must be solid.
• The manipulator will be damaged if it comes in contact with water for an extended period oftime. Do not operate the robot in conditions where it can get wet or under water.

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Connecting the Robot and Tool

No.

Item

1

Tool

2

Bracke
t

3

Cable

4

Tool
flange1. Use four M6 bolts to secure the tool on the tool flange.
• It is recommended to use tightening torque of 9 Nm to tighten the bolts.
• Use a Φ6 place marker pin to accurately install the robot in a fixed location.
• Connect the necessary cables to the flange I/O connectors after the tool is secured.

 Note- 120 -

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Methods of securing the tool may vary according to the tool. For more information about tool
installation, refer to the manual provided by the tool manufacturer.

Tool output flange, ISO 9409-1-50-4-M6

Connecting Manipulator to Controller- 121 -

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Description
1

Engaging the securing ring after connecting the manipulator connection cable• Connect the manipulator connection cable to the corresponding connections
on the controller and install the snap ring to prevent the cable from becoming
loose

2

Connecting the manipulator connection cable's opposite end to the controller• Push the other end of the manipulator connection cable to the corresponding
connection on the controller until it clicks into place to prevent the cable frombecoming loose.

 Caution• Do not disconnect the manipulator cable while the robot is turned on. This may cause the robot
to malfunction.
• Do not attempt any modifications or extensions to the manipulator cable.
• When installing the controller on the floor, secure at least 50 mm of clearance on each side toensure adequate ventilation.
• Be sure to properly lock the connectors before turning on the controller.

 Note• When configuring the system, it is recommended to install a noise reducer to prevent noise
influence among devices and system malfunctioning.
• If the controller is affected by the noise generated by electromagnetic waves, it isrecommended that ferrite cores be installed on both ends of the manipulator cable to ensure
normal operation. The installation locations are as follows:- 122 -

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Connect Controller to Teach Pendant
Push the teach pendant cable into the corresponding connections on the controller until it clicks into place toprevent the cable from becoming loose.

 Caution• Make sure to check that the pins in the cable end are not damaged or bent before connecting
the cable.
• When using the Teach Pendant hanging on the wall or controller, be careful not to trip over theconnecting cables.
• Be careful not to allow the controller, Teach Pendant or cable to come in contact with water.
• Avoid installing the controller or Teach Pendant in a dusty or wet environment.
• The control box and Teach Pendant must not be exposed to a dusty environment that exceeds
the IP20 rating. Be especially careful in environments with conductive dust.

 Note• When configuring the system, it is recommended to install a noise reducer to prevent noise
influence among devices and system malfunctions.
• If it is affected by noise generated by electromagnetic waves, it is recommended that ferrite
cores be installed on the connection parts of the Teach Pendant cable to ensure normal
operation. The installation locations are as follows:- 123 -

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Routing of Manipulator Cable and Teach Pendant Cable
Ensure that the cable curvatures are greater than the minimum curvature radius. The minimum curvatureradius of each cable is as follows:
Cable

Minimum curvature radius (R)Teach pendant cable

120 mmRobot cable

120 mm- 124 -

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PART 3. Installation Manual Caution• Ensure that the curvature radius between the teach pendant cable and teach pendantconnector is greater than the minimum curvature radius.
• If the curvature radius is smaller than the minimum curvature radius, cable disconnection or
product damage may occur.
• In environments where electromagnetic noise can occur, proper cable installation must be
taken to prevent malfunctions.

Connect Power to Controller
To supply power to the controller, connect the power cable of the controller to a standard IEC power outlet.
• When connecting, use a cable with a standard power plug that matches the outlet of country of use.
• Push the plug completely into the corresponding connection of the controller to prevent the cable frombecoming loose. Connect the standard IEC C14 plug under the controller to the corresponding IEC C13
cord.

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PART 3. Installation Manual Caution• After connecting the power cable, be sure to properly ground the robot (electrical groundconnection). Establish a common ground for all equipment in the system with unused bolts
associated with the ground symbol inside the controller. The ground conductor must satisfy
the maximum current rating of the system.
• Protect the input power of the controller using a circuit breaker.
• Do not attempt any modifications or extensions to the power cable. Doing so may cause a fireor controller breakdown.
• Be sure to properly connect all cables before supplying power to the controller. Always use theoriginal cable included in the product package.

 Note• When configuring the system, it is recommended to install a power switch capable of turning all
devices off at once.
• The power supply must satisfy minimum requirements such as grounding and circuit breakers.
The electrical specifications are as follows: (For optional controllers, refer to their respective
appendices.

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Parameter

Specifications

Input Voltage

100 – 240 VAC

Input Power Fuse (@100-240V)

15 A

Input Frequency

47 – 63 Hz

4.2.4 Power On/Off Controller Switch
Turn system power on
A power switch is installed on the bottom of the controller to cut off system power. Press the power button on
the bottom of the controller.
• The power for systems such as the robot, controller, teach pendant is turned on.

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Turn system power off
Before cleaning or servicing the robot or controller, or before disassembling the system, cut off system powerusing the power switch.

4.3 Interface
4.3.1 Flange I/O
The end flange cover of the robot has two M8 spec 8-pin connectors, and refer to the figure below for thelocation and shape.

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The connector supplies power and control signals necessary to operate the gripper or sensors embedded within
specific robot tools. The following are sample industrial cables (equivalent cables can be used):• Phoenix contact 1404178, male (Straight)• Phoenix contact 1404182, male (Right Angle)
The pin map of each connector is as follows:

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I/O functions provided through X1 and X2 connectors are different from each other, and refer to the table below
for detailed I/O settings.
X1 Setting (Digital IN/OUTPUT)
No

Signal1

Digital Input 1

2

Digital Output 1

3

Digital Output 2

4

Digital Output 3

5

+24V

6

Digital Input 3

7

Digital Input 2

8

GND

X2 Setting (Digital IN/OUTPUT)
No

Signal1

Digital Input 4

2

Digital Output 4

3

Digital Output 5

4

Digital Output 6

5

+24V

6

Digital Input 6

7

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PART 3. Installation ManualNo

Signal8

GND

Internal power of flange I/O is set to 24V, and refer to the table below for detailed power specifications during I/
O connection
Parameter

Min

Typ

Max

Unit

Supply voltage

-

24

-

V

Supply current

-

-

3

A

Digital output

-

6

-

EA

Digital input

-

6

-

EA

 Warning• Set up the tool and gripper so that they do not cause any hazards when power is cut off.
(e.g., workpiece falling from the tool)• The No. 5 terminal of each connector outputs 24V at all times while power is supplied to therobot, so make sure to cut the power supply to the robot when setting up the tool and gripper.

Flange Digital Output Specifications
Flange digital output is a PNP specification, and photo coupler output is set up in the output.
The corresponding output channel becomes +24V when digital output is activated. The corresponding output
channel becomes open (floating) when digital output is deactivated.
The electrical specifications of the digital output are as follows:
Parameter

Min

Typ

Max

Unit

Voltage when driving 10mA

23

-

-

V

Voltage when driving 50mA

22.8

-

23.7

V

Current when driving

0

-

50

mA

 Caution- 131 -

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PART 3. Installation Manual• Digital output is not subject to current limitation. Ignoring the specifications presented above
during operation may cause permanent damage to the product.
• The figure below is an example of a digital output setup, so refer to it while connecting the tooland gripper.
• Make sure to disconnect the power from the robot when setting up the circuit.

Flange Digital Input Specifications
Flange digital input features a photo coupler input.
The current based on 24V input is limited to 5mA by internal resistance.
The electrical specifications of the digital input are as follows:
Parameter

Min

Typ

Max

Unit

Input voltage

0

-

26

V

Logical high

4.4

-

-

V

Logical low

0

-

0.7

V

Input resistance

-

4.4k

-

Ω

 Caution• The figure below is an example of a digital input setup, so refer to it while connecting an input
device.
• Make sure to disconnect the power from the robot when setting up the circuit.

4.3.2 Controller I/O Connection
The controller I/O terminals can be used to connect external equipment other than manipulators and teachpendant to the controller. In addition to safety devices such as emergency stop switch, light curtain, and safety
mats, various peripherals required to configure a robot work cell, such as pneumatic solenoid valves, relays,
PLCs, and conveyor belt encoders can be connected.
The controller I/O is organized as follows.

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PART 3. Installation Manual• Terminal Block for Safety Contact Input (TBSFT): for connecting devices required for emergency stopping
and protective stopping• Digital I/O Power Terminal Block (TBPWR)• Configurable Digital I/O Block (TBCI1- 4, TBCO1– 4): for connecting peripherals required for robot
operation• Analog I/O Terminal Block (TBAIO)• Terminal Block for Encoder Input (TBEN1, TBEN2)• Terminal Block for Safety Contact Output (TBSTO): for connecting to the power supply line of the robot
peripherals and stopping the robot when it enters the STO status by cutting off the power to theperipherals as well

The figure below depicts the layout of the electric interface inside the controller.

 Caution• To prevent the risk of damage and malfunction to the product, be sure to turn off the power
when connecting terminals to the controller I/O.
• Doosan Robotics will not compensate for any damage to the product due to improper
connection of terminals or negligence of the user.
• When turning off the power to the controller, be sure to turn off the external power source as
well.

Setting the Terminal Block for Contact Input (TBSFT)
The safety I/O of the controller consists of redundant dedicated contact input terminals for connecting safety
devices. These terminals are categorized into two groups depending on their use.

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PART 3. Installation Manual• Two pairs of External Emergency Contact In on the bottom: Used to connect devices required for
emergency stopping such as external emergency switch.
• Two pairs of Protective Device Contact In on the top: Used to connect devices for protective stopping suchas light curtain and safety mat.
If this is used without an external safety device connected, connect each contact input as follows:

The external safety device signal recognized by the #safety controller# depending on the normally closed
contact status, where all four contact inputs are normally closed, is as follows:
Contact Status

EM1 contact

EM2 contact

PR1 contact

PR2 contact

Close

NormalNormalNormalNormal#Open#

Emergency Stop

Emergency Stop

#Protective Stop##Protective Stop# Warning• Do not connect the safety signal to regular PLCs that are not safety PLCs. Failure to do so may
cause improper operation of the Safety Stop function, resulting in severe injury or death to theuser.

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PART 3. Installation Manual• If any of the contacts are open, the robot will stop operation according to the safety stop modesetting, and the LED on the right side of the TBSFT lights up. #EMGA (Red), EMGB (Red), PRDA
(Yellow), PRDB (Yellow)# Note• EMGA: Emergency Stop Channel A (EM1) LED• EMGB: Emergency Stop Channel B (EM2) LED• PRDA: Protective Stop Channel A (PR1) LED• PRDB: Protective Stop Channel B (PR2) LED

 Caution• To check for connection losses and connection shortages, this terminal must be connected todevices that output a safety signal as contacts. To connect a peripheral device that outputs asafety signal as a voltage to the Safety Controller, see Configuring Configurable Digital I/O(TBCI1 - 4,TBCO1 - 4)(p. 136).

Configuring the Digital I/O Power Terminal (TBPWR)
VIO and GIO are power sources used for the digital I/O of the safety controller located in the front of thecontroller, and are separated from VCC24V and GND supplied by SMPS inside the controller. If the user uses acurrent of 2A or less for the configurable digital I/O and does not require insulation between the connected I/O
device and controller, the internal power supply of the controller can be used as the I/O power supply, as shownin the figure below. (factory default setting)- 135 -

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If a current greater than 2A is required, it is necessary to connect a separate external power source (24V) to the
VIO and GIO terminals.

When the VIO power is supplied, the “IOPW (green)” LED on top of the TBPWR block lights up.

 Caution• When turning off the power for the controller, be sure to turn off the external power source(SMPS).

 Note• If a current greater than 2A is connected to VCC and GND of TBPWR, the fuse in front of theterminal power output shorts to ensure the safety of the internal system of the controller
connected to the same SMPS.
• If a current greater than 2A is required for the configurable digital I/O, be sure to connect
additional external power source (24V) to VIO and GIO.

Configuring Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
The controller is configured with 16 digital inputs and 16 digital outputs. The digital I/Os shown in the figure
below can be connected to peripherals required for robot control, or can be set as redundant Safety IOs to be
used as safety signal I/O purposes.

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The electrical specifications of the #configurable# digital I/O are as follows:#Terminal#
Digital Output

Digital Input

Parameter

Specifications[Oxx]

Voltage

0 - 24 V[Oxx]

Current

0-1A

[Oxx]

Voltage Drop

0-1V

[Oxx]

Leakage Current

0 - 0.1 mA[Ixx]

Voltage

0 - 30 V[Ixx]

OFF Range

0-5V

[Ixx]

ON Range

11 - 30 V[Ixx]

Current

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PART 3. Installation Manual Caution• The VIO (IO 24V) and GIO (IO GND) terminals, which can be used as power supplies for digital I/
O, are separated from the other power supplies, VCC (24V) and GND, on the safety I/O circuit.
Use caution, as the diagnostic functions of the robot will detect errors and cut off the power tothe robot if the internal power supply is connected as a digital I/O power supply through theTerminal Block for Digital I/O Power (TBPWR) or if the 24V power is not supplied to the VIO andGIO terminals through an external power supply, the configurable digital I/O will not operate.

When configurable digital I/O is used as a general digital I/O, it can be used in various ways such as operating
low-current equipment such as solenoid valves for voltage or exchanging signals with PLC systems or
peripherals. The following is how to use the configurable digital I/O:
If #dry contact# input is received
This is a method of connecting a #switch# or #contact# between the VIO terminal of terminal blocks TBCI1TBCI4 and Ixx terminals. The output of the external device only acts on the #open/close# of the contact throughthe relay, so it is electrically insulated from external devices.

If #wet contact# input is received
It receives voltage-type signals from external devices. If the output of the target device is source type, it receives
a voltage of 24V/0V as input. If the output of the target device is #sink type#, a relay can be added to receive
voltage of 24V/0V as input. Because voltage input requires a reference, the external devices and the external
power supply must be connected to a common #ground#.

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If a simple load is operated
It is a method of connecting loads between Oxx terminals of TBCO1-TBCO4 terminal blocks and the GIO
terminal. Each terminal is capable of outputting a maximum of 1A, but the overall current may be limited
according to the calorific value and load.
If digital I/O power (VIO/GIO) is supplied through the internal power supply as in the factory default setting, up
to 2A of VIO current can be used. If a total current greater than 2A is required, remove the connection between
the digital I/O power supply (VIO/GIO) of the Terminal Block for Digital I/O Power (TBPWR) and the internal
power supply (VCC/GND) and connect an external power supply.

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If a #negative common & sink type# input device is connected
When connecting the output of the digital IO to a sink-type input device, connect the Oxx terminals of TBCO1 TBCO4 terminal blocks to the input terminal of the external device, and connect GIO to the negative common of
the external device to establish a common ground.

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If a #positive common & source type# input device is connected
Connect a relay between the Oxx terminal of TBCO1-TBCO4 terminal blocks and the GIO terminal to supply
input signals as contacts to the external device. If necessary, an external power supply can be connected to theexternal device.

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PART 3. Installation Manual Caution• The operation of the general digital IO devices can be interrupted at any time by cutting off thepower to the controller, detecting errors by self-diagnosis, and settings of the task program.
Therefore, perform a risk assessment before configuring the robot work cell and be sure to
implement additional safety measures if additional risks, such as falling of the workpiece,
stopping, negligence of the digital input due to digital outputs being switched off orsynchronization errors due to misunderstanding, are foreseen.
• The #general# digital I/O is a single connection type I/O and any short circuits or breakdown
can result in the loss of safety functions, so it cannot be used for safety purposes. If theconnection of a safety device or safety-related signal I/O is required, be sure to set thecorresponding terminal as redundant Safety I/O on the teach pendant.
When configurable digital IO is used as Safety IO
O01 & O02, … , O15 & O16, I01 & I02, .. I15 & I16, can use identical safety signals to form a dual safety I/O.
The dedicated input terminal of the Safety Contact Output Terminal (TBSFT) can only connect a dry contact
signal, but the input set as Safety IO can connect both contact-type (dry contact) and voltage-type (wet contact)signals. The output set to Safety I/O outputs voltage, but if necessary, a relay can be added externally toconfigure a contact type output.
The following is an example of connecting a safety device for operation.

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PART 3. Installation Manual• Connect a contact type (Dry Contact) signal emergency switch as a safety input terminal• Connect a voltage type (Wet Contact) signal light curtain as a safety input terminal (common ground)

Setting Analog I/O Terminal (TBAIO)The controller has two analog I/O terminals that can be set to voltage mode or current mode. It can output
voltage/current through an external device operated using analog I/O or receive signals from sensors
outputting analog voltage/current.
To ensure maximum input accuracy, observe the following:• Use shielded or twisted pair cables.
• Connect the cable shield to the ground terminal inside the controller.

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PART 3. Installation Manual• Current signals are relatively less sensitive to interference, so use devices operating in current mode foranalog I/O terminals. Current/voltage input modes can be set with the software.
The electrical specifications of the analog I/O terminal are as follows:
Terminal
Current mode analog input

Parameter

Specification[AIx-GND]

Voltage-[AIx-GND]

Current

4 - 20 mA[AIx-GND]

Resistance
300 ohm

Voltage mode analog input

Current mode analog output

Voltage mode analog output[AIx-GND]

Resolution

12 bit[AIx-GND]

Voltage

0 - 10 V[AIx-GND]

Current-[AIx-GND]

Resistance

1M ohm

[AIx-GND]

Resolution

12 bit[AOx-GND]

Voltage-[AOx-GND]

Current

4 - 20 mA[AOx-GND]

Resistance

50M ohm[AOx-GND]

Resolution

16 bit[AOx-GND]

Voltage

0 - 10 V[AOx-GND]

Current-[AOx-GND]

Resistance

1 ohm[AOx-GND]

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Voltage/current input
It receives voltage or current signals from an external device between the Alx terminal of the TBAIO terminal
block and the GND terminal. If the output of the device is a voltage signal, it receives a signal of 0-10Vdc. If theoutput of the device is a current signal, it receives a signal of 4-20mA.
• Depending on the output signal (voltage/current) of the device, it is necessary to set the controller analog
input as “Voltage” or “Current” on the teach pendant.

Voltage/current output
It supplies voltage or current signals to an external device between the AOx terminal of TBAIO terminal blockand GND terminal. If the input of the device is voltage signal, it supplies a signal of 0-10Vdc. If the input of thedevice is current signal, it supplies a signal of 4-20mA.
• Depending on the input signal (voltage/current) of the device, it is necessary to set the controller analog
output as “Voltage” or “Current” on the teach pendant.

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Setting Encoder Input Terminal (TBEN1, TBEN2)
The controller provides two TBEN terminals that allow the input of external encoders. They support A, B and Z
phases as inputs, and perform counts based on 12Vdc. In addition, S phase can be used as the conveyor’s Start
sensor.
• To ensure maximum input accuracy, observe the following: Use shielded, twisted pair cables to reducenoise.
• Connect the cable shield to the ground terminal inside the controller.
• In the case of S phase inputs, connect a pull-up or pull-down resistance according to the sensor type(NPN/
PNP) to prevent floating.
The figure below shows a sample encoder and sensor configuration, so refer to it while establishingconnections.

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Connecting PNP Sensor

Setting the Terminal Block for Voltage Input (TBSI)The Safety Controller provides dedicated safety inputs (SI1, SI2, SI3, SI4) to connect safety signals with test
pulses.
The Protective Device has the output to send the signal to a machine such as a robot when it detects a hazadous
situation.
The Protective Device may also include a test pulse in the signal to verify that the output function of this signal
is working properly, in which case this dedicated safety input can be used.

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PART 3. Installation Manual NoteEach port of the TBSI terminal accepts a maximum of one test pulse of 1 ms every 20 ms.
The test pulses are allowed only for the Low active signal (normally High and switches to Low when an
event occurs) among the Safety Input signals.

4.3.3 Network Connection
Laptops, TCP/IP devices, Modbus equipment and SVMs can be used by connecting them to the network
connection terminal inside the controller.
Connect cables to dedicated ports according to the network application.
• WAN: Connecting external Internet• LAN: Connecting peripherals using TCP/IP or Modbus protocol
Connecting the cable to the network connection terminal shown in the figure below connects the network.

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PART 3. Installation Manual Caution
In that the LAN4 port is for connecting with the internal controller, be careful not to connect it to otherequipment.

Connecting External Devices - Vision Sensor
The robot can be connected with a vision sensor (2D camera for object position measurement), and vision
sensor measurements can be transferred to the robot through a network to link with commands of the robot.
Vision Sensor Setting
Communication Connection Setting
Connect the LAN ports of the devices and apply TCP/IP communication to transfer vision sensor measurements
to the robot. (refer to LAN port connection “4.3 Network Connection”) Set the IP address of the vision sensor
to TCP/IP 192.168.137.xxx band to allow TCP/IP communication.
Vision Work Setting
To perform object position measurement, it is necessary to have an image input and vision teaching of thetarget object using the vision sensor. Refer to the dedicated vision work setting program provided by the vision
sensor manufacturer.
Measurement Data Format Setting
To use vision sensor measurement data in robot work, it is necessary to perform vision- robot coordinates
calibration, and this must be performed before initiating work using the vision sensor setting program. The
vision sensor measurement data must be transferred using the following format settings:
Form
at

po
s

,

x

,

y

,

angl
e

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,

var1

,

var2

,

…

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PART 3. Installation Manual• pos: Separator indicating the start of measurement data (prefix)• x: X coordinate value of the object measured using vision sensor• y: Y coordinate value of the object measured using vision sensor• angle: Rotation angle value of the object measured using vision sensor• var1…varN: Information measured using vision sensor (e.g., object dimension / defect check value)
Example) pos,254.5,-38.1,45.3,1,50.1 (description: x=254.5, y=-38.1, angle=145.3, var1=1, var2=50.1)
Robot Program Setting
When the physical communication connection between the vision sensor and robot and vision sensor setting
are completed, a program must be set to allow the vision sensor and robot program to be linked. It is possible
to connect/communication/control functions of the external vision sensor using Doosan Robot Language (DRL),
and it is possible to set up the program in the Task Writer.
Details and comprehensive examples of Doosan Robot Language (DRL) on external vision sensor functions areprovided in the Programming(p. 151)

Connecting External Device – DART Platform
The DART Platform is a software that runs on a Windows OS-based desktop or laptop. Once the controller and
Desktop/Laptop are connected through the LAN Port, all functions of the teach pendant are available from thetime the DART Platform is executed. At this time, the following setup procedure is required to connect with subcontrollers within the controller.
IP Address Search and Connection Setting
Communication Connection Setting
When the DART Platform is executed after connecting the laptop to the LAN port of the controller, the controller
IP address, the version information of the sub-controller and the robot serial number required for establishing aconnection are automatically searched.
If the search fails, press the Refresh button to refresh or tap Enter IP Manually to manually enter the IP of thecontroller.
Selecting the serial number of the robot to be connected and pressing the Connect button establishes aconnection between the DART Platform and the sub-controller and allows the robot to be operated normally.
If there is an issue with the connection, try the procedure below, but if this issue is persistent, contact the sales
or service staff for assistance.
• If the search results for connectable controller IP address, sub-controller version information, and robot
serial number are not displayed: Press the Refresh button to search again and try to connect again
according to the procedure above.

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Then, if you see the Transfer Control page as shown below, tap the Forced Withdraw button to attempt toconnect with the Platform.

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ModbusTCP Slave Setup
The ModbusTCP Slave function of Doosan Robotics supports robot parameter monitoring, and General Purpose
Register (GPR) (refer to Using General Purpose Register(GPR)(p. 156)) function. This function automatically starts
when the robot controller boots up normally. Therefore, the user can use it after matching the Master IP of therobot controller with the same bandwidth.

 Note• The related I/O Table is provided as a separate file.
• Please refer to the Programming Manual for DRL to use the GPR function.

Expanded Protocol - PROFINET IO Device(pnio device) Setup
The robot controllers of Doosan Robotics support the PROFITNET IO Device (Slave) function, which allows data
modification after reading the Parameters of the robot from an external device (PROFINET IO Controller/
Master). (i.e., robot parameter monitoring, General Purpose Register (Bit, Int, Float) – refer to Using General
Purpose Register(GPR)(p. 156)). For more information about PROFINET, refer to www.profibus.com10.

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Expanded Protocol - EtherNet/IP Adapter(EIP adapter) Setup
The robot controllers of Doosan Robotics support the EtherNet/IP Adapter (Slave) function, which allows data
modification after reading the Parameters of the robot from an external device (EtherNet/IP Scanner / Master).
(i.e., robot parameter monitoring, General Purpose Register (Bit, Int, Float) – refer to Using General Purpose
Register(GPR)(p. 156)). For more information about EtherNet/IP, refer to www.odva.org11.

Using Expanded Protocol
The PROFINET IO Device (PNIO device) and EtherNet/IP Adapter (EIP adapter) functions start together atcontroller startup, and are in connection standby state with the Master device. Therefore, in order to use thefunction, it is necessary to connect and set up the Master. Each Master device has different characteristics, so it
is necessary to check them.

 Note
The following are descriptions of the implementation characteristics of general functions for Industrial
Ethernet.
• The Industrial Ethernet function of Doosan Robotics controllers does not use a separate ASIC,
but implements its function based on TCP/IP, so it does not support real-time performance.
• Data output to external devices has identical markings (PNIO, EIP), but data input to the robot
only has identical structures and does not link. Therefore, data output from the PNIO controller
does not synchronize with output data from the EIP scanner.
• For the I/O table of PNIO and EIP, please refer to a separate document (or attachment).

Using General Purpose Register(GPR)
The GPR function is the memory of the PNIO device and the EIP adapter predefined by the user for use. It allows
exchange of user data between external devices and the robot.

 NoteThe GPR function is only provided through DRL, and the DRLs used are as follows: For more information
about DRL, please refer to the Programming Manual.
• set_output_register_bit(address, val)
• set_output_register_int(address, val)
• set_output_register_float(address, val)
• get_output_register_bit(address)• get_output_register_int(address)

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PART 3. Installation Manual• get_output_register_float(address)• get_input_register_bit(address)• get_input_register_int(address)• get_input_register_float(address)

4.4 Transportation
4.4.1 Caution during Transportation
 Caution• If the robot is wrapped in packaging materials and transported, store the robot in a dry
location. If the robot is stored in a location with high humidity, condensation may occur inside
the packaging material, resulting in robot defects.
• When relocating the robot, consider the weight of the robot’s link or base and carry the robot
with sufficient personnel at the same time. Especially for H-series, refer to the "Handling Guide"and make sure to carry it in accordance with the safety regulations of the country.
• The controller is moved by grasping the bottom handle.
• When transporting the robot or controller, make sure to maintain the proper posture. Failure to
do so may result in back injury or other physical injuries.
• When transporting the robot using lifting equipment, make sure to observe all related nationaland regional regulations.
• Doosan Robotics does not assume responsibility for any damages or losses that occur duringtransportation, so make sure to transport the robot safely according to the user manual.

4.4.2 Pose for Robot Transportation
Set the following poses to transport the robot:
Model

J1

J2

J3

J4

J5

J6

M0607

0°

0°

150°

0°

25°

0°

M0617

0°

0°

165°

0°

15°

0°

M1013

0°

0°

160°

0°

20°

0°

M1509

0°

0°

150°

0°

25°

0°

H2017

0°

0°

160°

0°

15°

0°

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Model

J1

J2

J3

J4

J5

J6

H2515

0°

0°

160°

0°

15°

0°

4.4.3 Package Specitications
The box specifications for transport are as follows:
Model

LengthWidth

HeightM0609

742 mm

500 mm

400 mm

755 mm

452 mm

545 mm

M0617

1206 mm

452 mm

545 mm

M1013

968 mm

500 mm

435 mm

986 mm

452 mm

545 mm

742 mm

500 mm

400 mm

755 mm

452 mm

545 mm

1040 mm1040 mm

1585 mm

1426 mm

736 mm

626 mm

1040 mm1040 mm1500 mm

1426 mm

736

626 mm

M1509

H2017

H2515

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Note

Since
December'22

Since
October'22

Since
December'22

Since July
'22

Since July
'22

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4.5 Maintenance
System maintenance must be performed by Doosan Robotics or a company designated by Doosan Robotics.
Maintenance is intended to keep the system operable or to return the system to an operable state in the eventof a problem, and it includes repair work as well as system diagnosis of potential issues.
When maintenance work is completed, risk assessment must be performed to confirm whether the system
satisfies required safety levels. Corresponding national and regional regulations must be observed during
inspection, and all possibilities related to safety must be tested.
When performing work on the manipulator or controller, the following safety procedures and warnings must be
observed.
• Maintain the safety settings of the software during maintenance work.
• If a particular part is defective, replace it with a new identical part or part approved by Doosan Robotics.
• The replaced part must be returned to Doosan Robotics.
• After completing the work, resume the safety function.
• Document the repair history of the robot system and manage related technical documents.
• Disconnect the power cable and make sure other power sources connected to the manipulator orcontroller do not supply power.
• Do not connect the system to a power source during maintenance.
• Check the ground connection before supplying power to the system.
• When disassembling the manipulator or controller parts, observe ESD regulations.
• Do not disassemble areas that supply power within the controller. Power supply areas may still be charged
with high voltage (up to 600V) even after the controller is turned off.
• Take caution to prevent water or dust from entering the system during maintenance.

4.6 Disposal and Environment
Doosan Robotics products comply with the Restriction of Hazardous Substances of Directive 2011/65/EU &Directive (EU)2015/863.
Since the products contain industrial waste materials, improper disposal can cause environmental pollution.
Therefore, do not dispose of the product along with general industrial or household waste.
When disposing of all or part of the product, you must comply with the laws and regulations of the country, andcontact the seller or Doosan Robotics for detailed information related to the disposal.
Sellers in Europe must register data applicable to the country of sale to EWRN (https://www.ewrn.org/nationalregisters) in accordance with Directive 2012/19/EU – Waste Electrical and Electronic Equipment.

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4.7 Annex. System Specification
4.7.1 Manipulator
M0609
Classification

Item

Specification

Performance

Axis Structure

6Payload

6 kg

Max. Radius

900 mmTCP Speed

1 m/s

Repeatability± 0.03 mm

J1 Range / Speed±360° / 150°/s

J2 Range / Speed±360° / 150°/s

J3 Range / Speed±150° / 180°/s

J4 Range / Speed±360°/ 225°/s

J5 Range / Speed±360° / 225°/s

J6 Range / Speed±360° / 225°/s

Operating Temperature

0 - 45 °C (273K-318K)

Storage Temperature-5 - 50 °C (268K-323K)

Humidity

20-80%

Digital I/O - X1

IN-3ch / Out-3ch

Digital I/O – X2

IN-3ch / Out-3ch

Joint Movement

Operating Environment

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Classification

Item

Specification

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Weight27 kg

Mounting

Any orientation

IP Rating

IP 54

Noise

< 65 dB

M1509
Classification

Item

Specification

Performance

Axis Structure

6Payload

15 kg

Max. Radius

900 mmTCP Speed

1 m/s

Repeatability± 0.03 mm

J1 Range / Speed±360° / 150°/s

J2 Range / Speed±360° / 150°/s

J3 Range / Speed±150° / 180°/s

J4 Range / Speed±360°/ 225°/s

J5 Range / Speed±360° / 225°/s

J6 Range / Speed±360° / 225°/s

Operating Temperature

0 - 45 °C (273K-318K)

Joint Movement

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Classification

Tool Flange & Connector

Item

Specification

Storage Temperature-5 - 50 °C (268K-323K)

Humidity

20-80%

Digital I/O - X1

IN-3ch / Out-3ch

Digital I/O – X2

IN-3ch / Out-3ch

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Weight32 kg

Mounting

Any orientation

IP Rating

IP 54

Noise

< 65 dB

M1013
Classification

Item

Specification

Performance

Axis Structure

6Payload

10 kg

Max. Radius

1300 mmTCP Speed

1 m/s

Repeatability± 0.05 mm

J1 Range / Speed±360° / 120°/s

J2 Range / Speed±360° / 120°/s

J3 Range / Speed±160° / 180°/s

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Classification

Operating Environment

Tool Flange & Connector

Item

Specification

J4 Range / Speed±360°/ 225°/s

J5 Range / Speed±360° / 225°/s

J6 Range / Speed±360° / 225°/s

Operating Temperature

0 - 45 °C (273K-318K)

Storage Temperature-5 - 50 °C (268K-323K)

Humidity

20-80%

Digital I/O - X1

IN-3ch / Out-3ch

Digital I/O – X2

IN-3ch / Out-3ch

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Weight33 kg

Mounting

Any Orientation

IP Rating

IP 54

Noise

< 65 dB

M0617
Classification

Item

Specification

Performance

Axis Structure

6Payload

6 kg

Max. Radius

1700 mmTCP Speed

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Classification

Joint Movement

Operating Environment

Tool Flange & Connector

Item

Specification

Repeatability± 0.1 mm

J1 Range / Speed±360° / 100°/s

J2 Range / Speed±360° / 100°/s

J3 Range / Speed±165° / 150°/s

J4 Range / Speed±360°/ 225°/s

J5 Range / Speed±360° / 225°/s

J6 Range / Speed±360° / 225°/s

Operating Temperature

0 - 45 °C (273K-318K)

Storage Temperature-5 - 50 °C (268K-323K)

Humidity

20-80%

Digital I/O - X1

IN-3ch / Out-3ch

Digital I/O – X2

IN-3ch / Out-3ch

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Weight34 kg

Mounting

Any Orientation

IP Rating

IP 54

Noise

< 65 dB- 164 -

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H2017
Classification

Item

Specification

Performance

Axis Structure

6Payload

20 kg

Max. Radius

1700 mmTCP Speed

1m/s

Repeatability± 0.1mm

J1 Range / Speed±360° / 100°/s

J2 Range / Speed±125° / 80°/s

J3 Range / Speed±160° / 100°/s

J4 Range / Speed±360°/ 180°/s

J5 Range / Speed±360° / 180°/s

J6 Range / Speed±360° / 180°/s

Operating Temperature

0 °C to 45 °C (273 K to 318 K)

Storage Temperature-5 °C to 50 °C (268 K to 323 K)

Humidity

20 % to 80 %Digital I/O - X1

IN-3ch / Out-3ch

Digital I/O – X2

IN-3ch / Out-3ch

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Joint Movement

Operating Environment

Tool Flange & Connector

Weight72 kg- 165 -

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Classification

Item

Specification

Mounting

Only Floor

IP Rating

IP 54

Noise

< 65 dB

H2515
Classification

Item

Specification

Performance

Axis Structure

6Payload

25 kg

Max. Radius

1500 mmTCP Speed

1m/s

Repeatability± 0.1mm

J1 Range / Speed±360° / 100°/s

J2 Range / Speed±125° / 80°/s

J3 Range / Speed±160° / 100°/s

J4 Range / Speed±360°/ 180°/s

J5 Range / Speed±360° / 180°/s

J6 Range / Speed±360° / 180°/s

Operating Temperature

0 °C to 45 °C (273 K to 318 K)

Storage Temperature-5 °C to 50 °C (268 K to 323 K)

Humidity

20 % to 80 %Digital I/O - X1

IN-3ch / Out-3ch

Joint Movement

Operating Environment

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Classification

Item

Specification

Digital I/O – X2

IN-3ch / Out-3ch

Power Supply

DC 24V/ Max. 3A

Connector

1424229, female (PHOENIX)

Weight

70 kg

Mounting

Only Floor

IP Rating

IP 54

Noise

< 65 dB

4.7.2 Controller
CS-11P (AC Controller)
Item

Specifications

Weight21.7 kg

Dimensions

606 X 306.9 X 446 mm

Material

Zinc Plated Steel

Protection Rating

IP54

Interfaces

RS232/RS422/RS485, TCP/IP(*RS232/RS422/RS485: USB to Serial converter not included)

Industrial Network

ModbusTCP (Master/Slave), ModbusRTU (Master), PROFINET IO (Device), EtherNet/IP(Adapter)(*In case of using a gateway, other communication types can be supported)

NC Interface

FANUC - FOCASI/O Port – Digital I/O

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Item

Specifications

I/O Port – Analog I/
O

2/2

I/O Port – OSSD I/O

2/2

I/O power supply

DC 24V

Rated supply
voltage100-240 VAC 47-63 Hz

Cable Length

6 m (Option: 3 m)

CS-12P (DC Controller)
Item

Specifications

Weight21.5 kg

Dimensions

606 X 306.9 X 446 mm

Material

Zinc Plated Steel

Protection Rating

IP54

Interfaces

RS232/RS422/RS485, TCP/IP(*RS232/RS422/RS485: USB to Serial converter not included)

Industrial Network

ModbusTCP (Master/Slave), ModbusRTU (Master), PROFINET IO (Device), EtherNet/
IP (Adapter)(*In case of using a gateway, other communication types can be supported)

NC Interface

FANUC - FOCASI/O Port – Digital I/O

16/16

I/O Port – Analog I/O

2/2

I/O Port – OSSD I/O

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Item

Specifications

I/O power supply

DC 24V

Rated supply voltage

22 – 60 VDC

4.7.3 Teach pendant
TP-02
Item

Specification

Weight0.8 kgDimensions

264 x 218 x 69 mm

Protection Rating

IP40

Screen Size

10.1 inch

Cable LengthCS-11/CS-11P : 4.5 m (Option : 2.5 m)
CS-12/CS-12P : 2.5 m (Option : 4.5 m)- 169 -

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4.8 Annex. H-Series Handling Guide Caution
1. Doosan Robotics does not assume responsibility for any damages that occurs during the use oflifting equipment.
2. If the robot is transported by packaging it with packaging materials, store the robot in a dry
location. If the robot is stored in a location with high humidity, condensation may occur,
resulting in robot
3. When relocating the robot, carefully consider the weight and have a suitable number of people
hold the link and base of the robot.
4. When relocating the controller, hold the handle on the side of the box.
5. When transporting the robot or controller, make sure to maintain the proper posture. Failure to
do so may result in back injury or other physical injuries.
6. When transporting the robot using lifting equipment, make sure to observe all related nationaland regional regulations.
7. Doosan Robotics does not assume responsibility for any damages or losses that occur duringtransportation, so make sure to transport the robot safely according to the user manual.

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4.8.1 Quick Guide
Thank you for choosing this Doosan Robotics product.
This guide provides the minimum amount of information required for three handling methods for relocationand installation of the H-Series robot safely. Make sure to follow the instructions in this guide when handlingthe robot.
• If the robot needs to be relocated, be sure to use the packaging materials provided with the initial delivery.
For this purpose, store the packaging materials and fillings in a dry, cool location.
• Industrial robot’s must be installed with careful consideration given to the inspection standards definedby the Regulations and Safety Inspection of the Occupational Safety and Health Standard Announcement(if the robot is subject to inspection).
• The robot can be transported using a crane, lift or hand lift, and when using a crane to lift the robot, besure to comply with regulations of the area or country of jurisdiction.
• Utilize the packing posture for robot installation and relocation.
• Make sure whether all standard and additional (optional) components are included, and contact the sales
agent if there are any problems.
• The packaging materials and bolts are designed specifically for the relocation of the robot. Do not use
them for any purposes other than relocating the robot.
• When relocating the robot, do not apply force to the exterior of the robot. Failure to comply with these
instructions may result in injuries.
• Remove the packaging materials and bolts after installation. Make sure to store the packaging materials
and bolts in case the robot needs to be relocated.
• Before relocation, make sure that the bolts and packaging materials are secure.

1. When a crane (hoist) is used
• Use a spin-resistant cable capable of handling the weight of the robot.
• The wire rope must be at least 1500 mm long.
Item

Minimum Capacity

Crane

1,000 kg

Wire Rope (EA)

1,000 kg

1.1 Once the rope is secured to the robot frame,- 171 -

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PART 3. Installation Manual• attach the rubber jig provided between axes 3 and 4 before the operation. (Refer to Figure
below)

1.2 If the rope is secured on the bottom packaging material- 172 -

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PART 3. Installation Manual Warning• When the robot is lifted, it may tilt depending on its pose and optional
attachments• During lifting, do not pass under the robot.
2. When Using Forklifts• If the robot needs to be relocated in its packaged state, lift it from the bottom of the package using
a forklift.
• During installation, relocate the robot using the lower packaging materials while taking caution to
avoid damage to the robot.

3. When Lifting Equipment is Unavailable• If you need to relocate the robot due to the unavailability of lifting equipment, relocate the robot
complying with the regional and national transport work standards.

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PART 3. Installation Manual• It is recommended to use the lower packaging materials as handles as below.

 Note• For H-Series, four M8 Taps are applied to the base to facilitate handling.

4.9 Annex. Doosan Robot Allowable Torque4.9.1 Doosan Robot Allowable Torque Caution- 174 -

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PART 3. Installation Manual• The values below are the maximum allowable torque values for each joint and should not be
used in excess of that value.
• It is recommended to operate within a range smaller than the values below when operating arobot.
Allowable Max. Torque[Nm]M-Series
Axis

1

2

3

M0609

160

160

90

4

5

6

45

45

45

M0617
M1013

340

340

160

M1509
H-Series
Axis

1

2

3

4

5

6

430

430

340

160

90

45

H2017

H2515

4.10 Annex. IP Protection Cube module Installation- 175 -

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Initial State

Disassembling the frame cover

Assembling grommets on cables

Assembling cables into cube
moduleAssembling frame coverInstallation complete- 176 -

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5 PART 4. Overview of User Manual
5.1 Power on/off the system
5.1.1 When using the teach pendant
Press and hold the power button on the upper left of the teach pendant.

 NoteIf the system does not power up, check the power switch at the bottom of the controller. For more
information, refer to Power On/Off Controller Switch(p. 127).
• The power for systems such as the robot, controller and teach pendant is turned on.
• Once the system is powered on, the LED indicator for the robot lights up.
• Press the shutdown button on the teach pendant or press and hold the power button on the upper left of
the teach pendant for 2 seconds.
a. The shutdown popup is displayed on the screen.
b. Press the OK button on the shutdown popup to properly shutdown the system.

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PART 4. Overview of User Manual Caution• Press and hold the power button for more than 4 seconds to force system shutdown.
• Forced shutdown may cause robot and controller failure.

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5.2 Overview of Program's Screen Layout

1

Item

Description

Home module launch icon

Clicking this icon will redirect you to the DartPlatform Home screen.

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Item

Description

1

HeaderThis screen shows the robot's status, the administrator's level,
and the current time.

2

Body

This screen shows the modules you have and is where you can
edit your favorites or search for modules.

3

FooterThis is the main menu, where you can manage servos, robots,
automatic modes, etc. and view the list of modules.

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5.2.1 Overview of Home Screen

Menu Layout
Item

Description

1

Tab

Clicking the Run Module icon creates a tab for running
modules.

2

SearchThis is where you can search for installed modules.

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3

Item

Description

Selecting a favorite

In the Home module, you can select modules to set as
favorites.
Tap this button to select modules to set as favorites
directly from the modules currently installed on the
Home screen.
Once you have selected a module, tap the same
button changed to Save Favorites to finish the favorite
setting.
Deletion is performed in the same way.

4

Install from Local

Used to load the module file to be installed on therunning device.

5

Tab PanelThis is where the UI of the Screen component of theexecuted module is seen.

5.2.2 Getting to know the header

Setting up the menu layout
Item

Description

1

Indication of robot's modes

This can be changed to Auto/Manual.

2

Indication of robot's detailed
statusSee the link3

Robot Parameter fileinformation

This is where the selected file name of the Robot Parameters module isseen.

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Item

Description

4

Safety ChecksumThis is where the current Robot Parameter Checksum information of
the Controller is seen.

5

Tool SettingThis is where the current TCP, Tool Weight, and Tool Shape can be set.

6

Backdrive & Recovery

This is the area where you can use the Backdrive & Recovery
function.

7

Current Time Information

The current time can be seen.

5.2.3 Overview of Footer

Menu Layout

1

Item

Description

Turn off button

This button turns off the platform. Press and hold the button for about 1-2
seconds.

2

Servo on/off
switchThis is the section where you can turn on/off the servo.

3

Operator/
Supervisor

This button can change Operator/Supervisor level.

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Item

Description

4

Auto switch

This button changes the state of the robot to Auto or Manual. The changed value canbe seen in the upper left corner of the screen.

5

Home

You can go to the Dart-Platform home screen.

6

Favorite
ModulesThis is a list of favorite modules.

7

Virtual&Real
switch• This is where you can choose whether to operate a virtual or real robot.
• This switch is only enabled when the servo is turned on.

8

3D Simulator
buttonThis is a button that makes it easy to view the 3D Simulator while running themodule.

9Play/Pause/
Resume/Stop

This button allows you to run, pause, resume, or stop the robot.

10

Speed Slider• This button allows you to set the robot's operation speed.
• Clicking on this area will bring up a popup where you can set the speed, which
can be changed using a slider or by entering text.

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5.3 What is a robot?
5.3.1 Functional Limits of each Robot Series
The respective robot series (A, As, M/H Series) limit the use of functions as follows:• Current-based: Current of motor located on each joint is used.
• FTS-based: An FTS (force torque sensor) located on the end of the robot is used.
• JTS-based: JTS (joint torque sensors) located on each joint is used.
Features

A series (currentbased)

A Series S

M Series

H Series(Current-based
and FTS-based)(JTS-based)(JTS-based)O

O (Current-based)

O

O

X

O (FTS-based)O

O

Collision
DetectionO

O (Current-based)OO

Installation Pose
MeasurementX

O (FTS-based)O

X (can only be
installed on thefloor)

Tool Weight
MeasurementX

O (FTS-based)OO

Workpiece Weight
MeasurementX

O (FTS-based)

O

O

Nudge Function

X

X

O

O

Force control

O (setting available
only in threetranslation
directions,excluding rotation)

O (FTS-based)O

O

Direct Teaching- Free Motion
Direct Teaching- Restrained
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Features

Compliance
controlA series (currentbased)

A Series S

M Series

H Series(Current-based
and FTS-based)(JTS-based)(JTS-based)

O (setting available
only in threetranslation
directions,excluding rotation)

O (FTS-based)O

O

Functional Limits of force monitoring for each Robot Series
The teach pendant and DART-Studio can be used to monitor force data. The DRL command(Check_force_condition()) can also be used to externally monitor force data.
• When the palletizing mode is set to “ON”: The same control/monitoring functions provided in the OFF
state are available, except for H Series robots.
Features

Force control

Compliance
controlForcemonitoring

A series (currentbased)

A Series S

M Series

H Series(Current-based
and FTS-based)(JTS-based)(JTS-based)

O (setting available
only in threetranslation
directions,excluding rotation)

O (FTS-based)OO

O (setting available
only in threetranslation
directions,excluding rotation)

O (FTS-based)X

O (FTS-based)

O (If the palletizing
mode is set to “ON”:
Force control
output limit (BaseRx, Ry orientation))OO
O (If the palletizing
mode is set to “ON”:
Compliance control
output limited(Base Rx, Ry
orientation))(Teach Pendant)- 186 -

O (Force value of “0”shown for the
singularity section)

O (Force value of“0” shown for the
singularity section)

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Features

A series (currentbased)

A Series S

M Series

H Series(Current-based
and FTS-based)(JTS-based)(JTS-based)

O (If the palletizing
mode is set to “ON”:
4-Degree ofFreedom provided
for the base (x, y, z,
Rz))
Force
monitoring(DART-Studio)

O (Force value of“0” shown for the
singularity section)

O (FTS-based)

O (Force value of “0”shown for the
singularity section)

O (Force value of“0” shown for the
singularity section)

O (If the palletizing
mode is set to “ON”:
4-Degree ofFreedom provided
for the base (x, y, z,
Rz))
Force
monitoring(When using the
DRL command:
Check_force_
condition())

O (Force value of“0” shown for the
singularity section)

O (FTS-based)

O (Force value of “0”shown for the
singularity section)

O (Force value of“0” shown for the
singularity section)

O (If the palletizing
mode is set to “ON”:
4-Degree ofFreedom provided
for the base (x, y, z,Rz))

Control output limit (Base Rx, Ry orientation): The force or compliance control values corresponding to the BaseRx, Ry orientation are not output. Entering the force or compliance control value of the relevant axis (Base Rx,
Ry) will be ignored as “0”.

5.3.2 Overview of Singularity
Singularity in a multi-joint robot refers to a position (or point) where the robot has difficulty in calculating its
next pose during moving. Multi-joint robots calculate each joint angle during movement based on the robotend.

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PART 4. Overview of User ManualFor example, in Fig. 1 below, when the robot is moving to the red dot, the robot will not be able to determine
whether to move its joints to set pose A or pose B as shown in Fig. 2. This position (or point) is called thesingularity.

Near a singularity, robot movement is not fluid in terms of plane, point and line, robot end linear movement
may not be maintained, and position error during control may increase. Singularity occurs in three cases asshown in the following figure, including when the robot joints form a line.

1. Wrist Singularity: When the robot wrist forms a line as Axis 5 approaches 0º• When compared to a human arm, Axes 4, 5 and 6 correspond to the wrist joint.
2. Shoulder Singularity: When Axes 1 and 6 are on the same line
• When compared to a human arm, Axes 1 and 2 correspond to the shoulder joint.
3. Elbow Singularity: When the robot forms a line as Axis 3 approaches 0º• When compared to a human arm, Axis 3 corresponds to the elbow.

 Caution• Manual and automatic operations moving with joint rotation are not influenced by singularity.
• Task movement, MoveL command, etc.

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PART 4. Overview of User Manual• Singularity only occurs during manual and automatic operation where the robot ends
performing linear movement.
• Joint movement, MoveJ commands, etc.
• In the singularity zone, force control or compliance control is unavailable.
• As the rotation speed of certain axes increase rapidly when a linear motion passes a singularity,
it is possible for a Joint Speed Limit Violation or Joint Angle Limit Violation to occur.

How to avoid Singularity
Doosan Robotics robots offer options to avoid singularities during motion control. However, it is recommended
to configure a task that does not create exceptions using joint movement commands such as MoveJ insingularity zones.

5.3.3 Overview of Euler Angle
Euler Angle is a way to express the angles of X, Y and Z axes, which are perpendicular among themselves in theobject direction. A, B and C refer to the sequential rotation angles. Each robot manufacturer defines this A, B
and C rotation order differently, such as Rz-Ry-Rx or Rx-Ry-Rz.
Doosan Robotics uses Rz-Ry-Rz. Here, Rz means the rotation in Z-axis, and Ry means the rotation in Y-axis. Rz
can be expressed as angle A, Ry as angle B, and Rz as angle C to indicate the current rotating direction of an
object. Note that once rotation is made in Z-axis direction from the coordinates, rotations will be made basedon new coordinates.
This can be visualized with steps 1 to 4.
1. Assume there are coordinates (X, Y, Z).

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2. Rz: Rotate by A degrees from the Z-axis.

3. Ry : Rotate by B degrees from the new Y-axis (Y’) of the new coordinates (X’, Y’, Z’) in step 2.

4. Rz : Rotate by C degrees from the new Z-axis (Z’’) of the new coordinates (X’’, Y’’, Z’’) in step 3.

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5. The new coordinates (Z’’’, Y’’’, X’’’ of step 4 refers to the current robot rotation when Euler Angles A, B and
C are applied.

This can be easily visualized with one’s right hand. Make the following pose with your right hand. This is called
the Right-Hand Rule, and making the thumb (X-axis), index finger (Y-axis) and middle finger (Z-axis) to beperpendicular to each other will create coordinates consisting of X, Y and Z axes.

Then make the Right-Hand Rule Cartesian pose and make rotations Rz, Ry and Rz in sequential order.
1. Rz: Rotate the middle finger (Z-axis) by A degrees.
2. Ry: Rotate the index finger (Y-axis) by B degrees.
3. Rz: Rotate the middle finger (Z-axis) by C degrees.

 NoteThe + rotating direction of A, B and C is the direction of four fingers except the thumb, when the thumb ispointing at the + direction and the four fingers are clenched. This is called the Law of Clockwise Screw.

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5.4 Overview of Servo On- 192 -

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Servo On refers to the standby status where the robot arm can be operated by supplying power to joints.
Pressing the emergency stop button or violating critical safety limits sets the Servo Off status. During servo off
status, the power to joints is cut off, which results in the robot arm being unable to be operated, and Task
Editor and Jog Plus, which are related to robot arm operation, are disabled in the main menu.
To switch from servo off to servo on, tap the Servo button on the left-hand side of the main menu at the bottom.

5.5 Backdrive Module
Backdrive cuts off power supplied to the motors, releasing only the brakes to allow the robot's joints to move
under external force. This function is used when the robot cannot return to normal status with Recovery modeor Handguiding. With Backdrive mode, the user can engage or disengage the brake of each joint.

To enter the Backdrive module, tap the Backdrive&Recovery module at the bottom.

Menu Items

1

Item

Description

Start Backdrive Mode

This button allows you to run the Backdrive mode.

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2

Exit BackdriveThis button allows you to exit the Backdrive
module.

3

Joint Image

This is an image that describes the position ofeach joint.

4

On/Off toggle button

You can choose whether to enable it for each joint.

The process of setting Backdrive mode is as follows:
1. Tap the Status button on the main menu Backdrive button.
• If the Backdrive button is not enabled, pressing and releasing the Emergency Stop button orpressing the Servo Off button will enable it.
• If the servo is turned on, the following pop-up window appears and the servo is automaticallydisabled.

2. The Start Backdrive Mode button on the Backdrive screen.
• OFF/ON buttons to release the brakes of each joint are enabled.

3. Set the brake of the joint to move 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 zerogravity motion, the brakes of all joints are applied automatically to ensure safety.
4. Set the brake ON (Hold) when the position change is complete.
5. Tap the Power on the main menu to shut down the operating program, tap and hold the power button on
the top of the teach pendant to shut down the system, and press it again to turn on the system.
• Backdrive status is released and work can resume normally.

 Note• Move each joint back to the normal work range individually in sequential order.
• If Backdrive mode is executed, the system must be rebooted to resume normal work again.
• Use caution as temporary sagging may occur depending on the axis location in Backdrivemode.

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5.6 Recovery Module
Recovery Module: If there is an error with a continuing safety violation or if a robot needs to be packed fortransportation, the user can use the Safety Recovery Mode to configure the position and angle of the robot.

You can enter the Recovery module by tapping the Backdrive & Recovery module at the bottom.

• Software Recovery: In Servo Off status, if a safety violation error situation caused by position-related
safety 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 suchcases, Software Recovery mode is used to reset the robot to normal.
• Packaging Mode: For packaging and transporting the robot, the robot can be set to predefinedvalues (which go beyond the normal operation angle limit) for transporting.

If the servo is enabled when the Recovery module is launched, the following pop-up appears and the servo is
automatically turned off.

5.6.1 Using Software Recovery Mode
Software Recovery Mode

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Menu Items
Item

Description1

Servo On to Start Recovery

This is a button to enable the servo before
entering Recovery mode.

2

Exit Recovery

This button allows you to exit the Recovery
module.

3

HeaderThis section allows you to select either Software
Recovery mode or pack/unpack mode.

4

3D Simulation

This area allows you to preview a 3D simulation of
the set values.

5

Warning Message

This explains the precautions.

6

Display Coordinates

This is where you can set the coordinate based onBase or World.

7

Base/Tool Button

This is where you can set the value based on Baseor Tool.

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8

Item

Description

Joint/Task

This section allows you to enter the desired values
to make the robot move.

To use the software recovery mode, follow these steps:
1. Tap the Recovery menu in the Main Menu window. The Software Recovery screen appears automaticallyin the Recovery window.
2. Tap each joint button on the right side of the Software Recovery screen, and use,

buttons to set the position. Or press buttons of the cockpit to adjust the joint angle by directteaching.
• For definitions of the buttons in the cockpit, see Cockpit(p. 209)
• 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 top left to close the window.

 Caution
Software repair mode is not available when the joint angle limit is exceeded by 3 degrees.

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5.6.2 Using Pack/Unpack

Menu Items
Item

Description

1

Model Name

The name of the connected robot model appears.

2

Pack/Unpack

Either Pack or Unpack can be selected.

3

Packaging Pose/Joint Limit

The pose and joint limit values appear.

4

Speed Ratio

The speed of the pack or unpack mode can be
adjusted via a slider or input.

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1. Tap the Recovery menu in the header pane.

2. Select the Packaging Mode tab.

3. To enable packaging mode, tap the Servo On to Start Recovery button.

4. The robot automatically moves to the set packaging pose.
• The Pack button allows you to put the robot in the Pack position and the Unpack button allows
you to put the robot in the Default Home Position.

5.7 Robot Parameters Module

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Item

Description

1

Project name

This is where the project name is entered.

2

View More

Clicking this button will create a new file or import,
save, or export an existing file.

3

Accordion menu

Clicking on an item will bring up a list of relatedmenus.

4

Sub menu

You can enter each screen and function by clicking on
the menus.

5

Lock icon

When the lock icon is seen, certain settings can bechanged at the administrator level.

 To use this module, the robot must be in Manual mode.
If the following warning message is seen, change the state of the robot to Manual mode.

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5.7.1 Robot Settings
I/O Alias

Menu Items
Item

Description

1

Controller Digital I/O

The name of the controller digital I/O can be set
individually.

2

Flange Digital I/O

The name of the flange digital I/O can be set
individually.

3

Controller Analog I/O

The name of the controller analog I/O can be set
individually.

4

Flange Analog Input

The name of the flange analog I/O can be set
individually.

5

I/O Name

The name can be up to 40 characters long.

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Mount
The robot installation pose can be set in the robot installation pose (mount) menu. If the robot is installed on aflat surface, this step can be skipped.
The robot installation pose can be set in Robot Parameters > Robot Settings > Mount.

• The installation angle can be measured using the auto measure function. However, if the angle is less than
5 degrees, auto measure is unavailable.
• If the robot is installed on the ceiling or wall, the robot installation angle can be set with Y-axis and Z-axis
rotations.
• As auto tool weight calculation is performed based on gravity, it is recommended to reset the tool weightonce mount setting is done.

 Caution• When setting the robot installation pose (mount) Workcell Item, it is recommended to change
the world coordinates as well. If the world coordinates are not changed, the robot pose on the
robot simulator screen of the teach pendant is displayed as the robot being installed on the flat
surface (basic).

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Menu Layout
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Use Mount

Button to enable the use of mount. Button isavailable after unlocking.

3

Auto MeasureThis automates a commanded operation. The 3D
Simulation next to it shows this movement.

4

Information Image

This is an image that tells you about the Mount.

5

Information Message

This is a message that tells you about the Auto
Measure.

6

Increment/Decrement Button

This allows you to increment or decrement asmuch as desired.

7

Y-Axis Rotate Input Field

The Y-axis rotation angle can be entered directly.

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Item

Description

8

Z-Axis Rotate Input Field

The Z-axis rotation angle can be entered directly.

9

Apply Button

This allows the set values to be applied.

World Coordinates
The world coordinates of the robot can be set from World Coordinates. In case the robot coordinate is the basecoordinates, this step can be skipped.
World coordinates can be set in Robot Parameters > Robot Settings > World Coordinates.
• World coordinates are used when the robot base installation location is physically moved/rotated.
• Changing the world coordinates will apply the same move/rotation to the robot simulator screen.

 NoteWorld coordinates can also be used even after the base location and angle are changed after robot
teaching. If the coordinates of tasks created through robot teaching in the past are changed from BASE
to WORLD, an offset corresponding to the move/rotation of world coordinates is applied to all motion
coordinates.

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Menu Layout
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Information Image

This is an informative image required for the setting.

3

Information Message

This is an informative message required for the setting.

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Item

Description

4

Mounting Pose

This section includes Mounting Pose values for A, B, andC.

5

Point, Line and Plane settings

This is where you can select and set the desired items
among point, line and plane.

6

Teaching Guide

This is a guide for setting up point, line and plane.

7

Coordinates

This is where you can select the desired coordinate
between Base and World.

8

Point 1 settingThis is where you can set the settings for each of the 6axes, as well as Get Pose and Move To.

9

Apply Teaching Points button

This button allows you to enter the desired settings andapply them.

10

World to Base Coordinates ResetThis button allows you to reset the World to Base
Coordinates already entered.

11

World to Base Coordinates settingThis is where you can enter settings for the 6 axes.

12

Apply button

The setting value can be applied.

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User Coordinates

Menu Layout
Item

Description1

Add New

This button allows you to add User Coordinates. Up to 100
user coordinates can be added.

2

DeleteThis button allows you to delete the selected User
Coordinate.

3

Selected User Coordinates

This is a list of the User Coordinates added.

4

User Coordinates Name

This is where you can set the names of the User
Coordinates. A number from 101 to 200, with a maximum
length of 40 characters, can be entered.

5

Point, Line and Plane settings

This is where you can set each point, line, and plane.

6

Information icon

A guide to User Coordinates is provided.

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Item

Description

7

Coordinates

This is where you can select either Base or World as thebasis for the desired value.

8

Point1 settingThis is where you can enter values for each of the 6 axes of
Point 1 and run Get Pose or Move To.

9

Apply Teaching Points

This button allows the desired values to be applied after
they are entered.

10

User Coordinates

In the User Coordinates section, you can enter each of thedesired values.

11

Save

This button allows the setting values to be saved.

Home Position

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Item

Description

1

Default Position option

This is the section where you can select the Default
Position option.

2

Default Position value

These are the values that correspond to the Default
Position, all of which are 0.

3

Custom Position option

This allows you to select the Custom Position
option.

4

Custom Position value inputThis is the section where you can enter values forthe 6 axes, apply Get Pose, and initialize them.

5Home Position

This button allows you to set the Default Position or
the Custom Position you set as the Home Position.

6

Warning Message

A note of caution when setting this up.

7

Save

This button allows the setting values to be saved.

Cockpit
MANDATORY EASY 5 MIN
Direct teaching is used to hold the robot end with one’s hands to push and pull the robot to the desired pose,and apply the pose to the currently selected motion. There are two direct teaching methods.
• Freedrive: Each joint moves in the direction the user applied force• Constrained Motion: The robot end moves or rotates only in the direction set in the constrained motion
even when force is applied from a random direction
Freedrive
When Button 1 is pressed, the Freedrive mode is activated, allowing the robot to be moved freely. Each joint
moves in the direction the user applied force. The robot cannot be moved by hand once the button is released.
• During direct teaching, the robot LED blinks cyan.

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Pressing the hand guide button on the back of the teach pendant will activate the Freedrive mode, just likepressing Button 1, and the robot can be moved freely.

Constrained Motion
When Button 2 and Button 3 are pressed, the robot end moves only in the direction matching the constraint
condition even when force is applied from a random direction. The constraint condition can be set with 2 of 4 ofthe conditions in the following figure: Z-axis constrained, plane fix constrained, surface constrained anddirection constrained.

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Menu Items
Item

Description

1

Cockpit Image

This is an image for Cockpit settings.

2

Reset

This button allows you to initialize the set values.

3

1 Button SettingThis is the section where you can select the function
to be set for the button 1.

4

2 Button SettingThis is the section where you can select the function
to be set for the button 2.

5

1+2 Buttons SettingThis is the section where you can select whether toenable clamping for the buttons 1+2.

6

Guide Image

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Normal I/O

Menu Items
Item

Description

1

Normal Input

This is the section where you can set what to beentered.

2

Normal Output

This is the section where you can set what to be
output.

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3

Item

Description

Port Component

The options listed in the drop-down menu are
different for Input and Output.
For Input, the options in the drop-down menu foreach port are:
Not Used
Power On (H)Power Off (H)For Output, the options in the drop-down menu foreach port are:
The options are:
Not Used
Safe Torque Off (L)Safe Operating Stop (L)Normal Speed (L)Reduced Speed (L)Auto Mode (L)Manual Mode (L)Remote Control Mode (L)Standalone Zone (L)Collaborative Zone (L)High Priority Zone (L)Tool Orientation Limit Zone (L)Designated Zone (L)Task Operating (L)Robot In Motion (L)Mastering Alarm (L)Home Position (L)Deceleration - SS1 SS2 (L)

4

Save

This allows the set values to be applied.

Flange I/O SettingThis menu can only be accessed when connecting to a robot installed new flange.

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Menu Item
Item
1

Supply Voltage

2

Digital Output Type

Description• Provides the ability to set the supply voltage.
• You can select the voltage(0V(=Off) or 12V or 24V)
Provides the function to set the digital output type for each X1 and X2 port.
• In series A, only X1 port is supported in the digital output type item.
• In series M/H , both X1 and X2 ports are supported in the digital output
type item.

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3

Item

Description

Analog Input/RS485 Mode
Setting

Provides the ability to select Analog Input or RS485.
• In series A, only the X1 port is supported in the Analog Input/RS485
item.
• In series M/H , both X1 and X2 ports are supported in the Analog Input/
RS485 item.
When selecting Analog Input,
Baud Rate, Data Bit, Parity Bit, Stop Bit items are disabled
When selecting RS485,
You can choose from the following options• Baud Rate : 19200, 38400, 57600, 115200(default), 1000000 bps• Data Bit : 5, 6, 7, 8(default), 9 Bit• Parity Bit : Odd, even, none(default)• Stop Bit : 1(default), 2

4

5

End Effector PowerInterlock

Provides a function to set the operation when Servo Off or Interrupted.

Save

It can apply the set values.

In series A, the Servo Off selection combo box is disabled.

5.7.2 Tool Settings
Tool Center Point
When configuring the tool center point (TCP), the position and rotation angle based on the flange coordinates
must also be defined. At this time, The distance from the default starting point of the flange coordinate to thetoolcenter point (TCP) inthe X, Y and Z directions cannot be set to be greater than 10000 mm. Also, note that
Force Control, ComplianceControl, and Direct Teaching-Point Fixation are only available
when the converted lengths of X, Y, and Z are 300 mm or shorter.
If the tool center point (TCP) is configured using Auto Calculate, the calculation is made based only on the X, Y
and Z positions, so it is necessary to enter the rotation angle. The rotation angle can be defined with RZ, RY, andRX and it based on the “Euler Z-Y-Z” rotation method.

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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 of the “flange coordinate”defined at the end of the flange is identical to the robot coordinate when the robot joint angle of therobot is (0,0,0,0,0,0).
• Coordinate axis of the “TCP Coordinate” (X, Y, Z): This is set at the end or at the working point of the tool
installed on the end of the flange. At this time, the rotation angle of the “TCP Coordinate” is defined basedon the “Flange Coordinate”in the order of 1) to 3) of the following:- 216 -

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1) Rotate A degrees along the z axis of the flange coordinate.
2) Rotate B degrees along the y’ axis of the coordinate rotated according to 1).
3) Rotate C degrees along the z’’axis of the coordinate rotated according to 2).

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PART 4. Overview of User Manual• [X, Y, Z, A, B, C] = [0, 0, 100, 0, 0, 0]: General Gripper with only a 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)- 218 -

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Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the value.

2

3D Simulation

This is where you can simulate the configured Tool
Center Point.

3

AddingThis button allows you to add TCP.

4

Deleting

This button allows you to delete the selected TCP.

5

Save

This button allows the setting values to be saved.

When the settings are locked, the screen below is seen.

At this time, the selected TCP is seen in blue as shown below.

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Tool Weight
The weight of the tool installed on the flange can be set by adding a tool weight Workcell Item. The Tool Weight
can be set in Robot Parameters > Tool Settings > Tool Weight.
• The tool weight can be measured using the auto measure function.
• It is recommended to add tool weight as Workcell Items for each tool with a workpiece. If the workpiece
weight is too heavy, the robot may recognize the weight of the workpiece as external force. It is because
the robot determines this external force as a collision and stops.
• When creating a task, change the weight Workcell Item according to the process to change the tool
weight. For example, it is possible to configure a task to select the standard tool weight Workcell Item
before picking up a workpiece, and select the tool weight Workcell Item with the workpiece after picking
up a workpiece.

The activated tool weight Workcell Item can be set as the standard tool weight by pressing the set tool icon () on the top of the teach pendant.
• Set of the tool setting is the same as the set of Other Commands. Set command can be used whenchanging the Tool Weight while a task is being performed. For more information, refer to Task Editor
Module(p. 266).

 Note• Up to fifty different tool weights can be registered.

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Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

AddingThis button allows you to add a new Tool Weight.

3

Deleting

This button allows you to delete a Tool Weight.

4

Tool Weight List

A list of the configured Tool Weights

5

Tool Weight Name

This is where you can enter a name for the Tool
Weight.

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Item

Description

6

Auto Measure Motion

This button allows you to run the automatic
measurement.

7

Automatic Measurement

This button allows you to select an option and run anautomatic measurement for it.

8

Motion Selection

You can select the desired Motion from the options.

9

Selection of the Use of Weight

You can choose whether to use weight.
This selection box is disabled for E Series or A Series
without FPT sensors.

10

Weight Input

This is where you can enter the desired weight.

11

Selection of the Use of Center of Gravity CX

The use of the center of gravity CX can be selected.

12

CX Input

CX can be entered.

13

Selection of the Use of Center of Gravity CY

The use of the center of gravity CY can be selected.

14

CY Input

CY can be entered.

15

Selection of the Use of Center of Gravity CZ

The use of the center of gravity CZ can be selected.

16

CZ Input

CZ can be entered.

17

Whether to Use Inertia

This checkbox allows you to choose whether to use
inertia.

18

lxx Input

An LXX entry for inertia can be entered.

19

lyy Input

An lyy entry for inertia can be entered.

20

lzz Input

An lzz entry for inertia can be entered.

21

lxy Input

An lxy entry for inertia can be entered.

22

lyz Input

An lyz entry for inertia can be entered.

23

lzx Input

An lzx entry for inertia can be entered.

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24

Item

Description

Save

This button allows you to save the setting values.

Tool Shape
MANDATORY EASY 5 MIN
The shape of the tool installed on the flange can be set by adding a tool shape Workcell Item.
The Tool Shape can be set in Robot Parameters module > Tool Settings > Tool Shape. For more information,
see Tool Shape setting12.
• The robot determines space limit violation status based on the TCP (Tool Center Point) of the robot end
and the robot body. If the actual robot has a tool shape larger than the set TCP, a tool shape Workcell Item
must be added to protect the workpiece and tool.
• Take caution as the zone the robot can maneuver will decrease if the tool shape is set too large.

The tool shape item is only available after it is registered (Confirmed) and the toggle switch is enabled. The
activated tool shape Workcell Item can be set as the standard tool shape by pressing the set tool icon (the top of the teach pendant.

) on• Set of the tool setting is the same as set of Other Commands. Set command can be used when changing
the Tool Shape while a task is being performed. For more information, refer to Task Editor Module(p. 266).

 Note• Up to fifty different tool shapes can be registered.

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Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modification.

2

3D Simulation

This is where you can 3D Simulate the result of
the configured Tool Shape.

3

Whether to enable Tool Shape

This button allows you to select whether toenable each Tool Shape.

4

Tool Shape Name

The name of the configured Tool.

5Tool Shape Form

The shape of the configured Tool.

6

Editing Tool Shape

This button allows you to edit the configured Tool
Shape.

7

Deleting Tool Shape

This button allows you to delete the selected Tool
Shape.

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Item

Description

8

Adding Tool Shape

A tool shape can be added.

9

Applying

This button allows you to apply the Tool Shapeafter setting it.

Menu Items
Item

Description

1

Tool Shape

This indicates that this pane is a Tool Shape popup.

2

Entering a Name

This is a field where the name of the Tool Shapecan be entered.

3

Cautionary Message

A note of caution when setting up

4

Add New Cuboid

This button allows you to add a cuboid.

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Item

Description5

Add New SphereThis button allows you to add a sphere.

6

Add New Capsule

This button allows you to add a capsule.

7

CancelThis button allows you to cancel the setting.

8

Confirm

This button allows you to confirm the setting.

Once the cube/sphere/capsule is added, the display is seen as below.

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5.7.3 Safety Settings
This section walks you through the basic concepts for using Safety Settings.
The stop modes provided to ensure user safety are as follows:• STO (Safe Torque Off): Stops Servo Off (motor power is immediately turned off)
• SS1 (Safe Stop 1): Servo Off after maximum deceleration stop
• SS2 (Safe Stop 2): Standby after maximum deceleration stop (pause)• RS1: Upon collision, complies to the direction opposite of the collision and then enters standby (can only
be set in Collision Detection/TCP Force Limit Violation)
Doosan Robotics robots have two types of safety stop functions. Emergency Stop is used for general emergency
situations, and the robot can resume operation with Servo On after releasing the emergency stop. In case ofProtective Stop, the robot can resume operation by resolving the cause of Protective Stop and releasing thestop.
• Emergency Stop: It sets the stop mode when the Emergency Stop button of the teach pendant or an
additionally installed external device is activated• It activates when the Emergency Stop switch of the teach pendant or the one connected to the
TBSFT EM terminal is pressed.
• Only STO or SS1 can be selected.
• Protective Stop: It sets the stop mode when the externally connected protective equipment is activated• It activates when the protective equipment connected to the TBSFT PR terminal is activated.
For more information on the Safety Stop functions, refer to Safety Functions.
Press the Emergency Stop button on the teach pendant or activate the safety device connected to the Safety I/O
to activate emergency stop. Safety devices can be connected to Emergency Stop or Protective Stop throughWorkcell Manager > Robot > Safety I/O functions of the teach pendant screen.
• For more information about connecting a safety device to Safety I/O, refer to Connect Controller I/O13.
• For information on how to set the safety stop function for this connection in the program, See Safety
Signal I/O14.

Robot Limits Setting
In Robot Limits, various limits related to the robot can be set. These limits are used to ensure the robot operates
safely within the set limits.

Robot limits can be set in Robot Parameter > Safety Settings > Robot Limits.
• For a detailed description of each limit, see Robot Limits15.

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Robot Limits are largely divided into 3 categories. Each category includes the following screens and functions.

Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

TCP/Robot

Large classification of robot limits.

3

Reset

Used to reset settings.

4

Force

Used to set the force.

5

Power

Used to set the power.

6

Speed

Used to set the speed.

7

Momentum

Used to set the momentum.

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Item

Description

8

Collision

Used to set the collision.

9

Save

Used to save the applicable setting.

Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password is required
for modifying the set value.

2

Joint Speed

Large classification of robot limits.

3

Reset

Used to reset settings.

4

J1

Used to set the settings for Normal and Reduced modes
respectively.

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Item

Description

5

J2

Used to set the settings for Normal and Reduced modes
respectively.

6

J3

Used to set the settings for Normal and Reduced modes
respectively.

7

J4

Used to set the settings for Normal and Reduced modes
respectively.

8

J5

Used to set the settings for Normal and Reduced modes
respectively.

9

J6

Used to set the settings for Normal and Reduced modes
respectively.

10

Save

Used to save the applicable setting.

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Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password is required
for modifying the set value.

2

Joint Angle

Large classification of robot limits.

3

Reset

Used to reset settings.

4

J1

Used to set the settings for Normal and Reduced modes
respectively.

5

J2

Used to set the settings for Normal and Reduced modes
respectively.

6

J3

Used to set the settings for Normal and Reduced modes
respectively.

7

J4

Used to set the settings for Normal and Reduced modes
respectively.

8

J5

Used to set the settings for Normal and Reduced modes
respectively.

9

J6

Used to set the settings for Normal and Reduced modes
respectively.

10

Save

Used to save the applicable setting.

Safety I/O SettingThis function inputs/outputs safety-related signals through a redundant terminal. If any signal that is different
from the redundant safety input or output signal is detected, the system determines whether it is a short circuitor hardware defect and stops the robot with STO Stop Mode.
• Safety Signal I/O) can be set in Robot Parameters > Safety Settings > Safety I/O.
For more information, see Safety Signal I/O16.

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Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Input/Output

Either Input/Output can be selected to be set.

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3

Item

Description

Port list

This is a list of Ports in the corresponding
category.
The drop-down menus include:
Not Used
Emergence Stop (L)Emergence Stop - No Loopback (L)Protective Stop (L)Protective Stop - STO (L)
Protective Stop - SS1 (L)Protective Stop - SS2 (L)Protective Stop (L) - Auto Reset & Resume (R)Interlock Reset (R)Reduced Speed Activation (L)3-Pos Enable Switch (H)Handguiding Enable Switch (H)Remote Control Enable (H)Safety Zone Dynamic Enable (H)Safety Zone Dynamic Enable (L)HGC End & Task Resume (R)4

Caution Message

A note of caution for setting up Safety I/O.

5

Velocity Reduction Rate Slider

You can use the slider to set the Speed Reduction
Ratio. It can be set from 0 to 100.

6Velocity Reduction Rate Input

The velocity reduction rate can be directly
entered. It can be set from 0 to 100%.

7

Save

This button allows you to save the setting you
entered.

The Output screen appears as follows, similar to Input.

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Safety Stop Modes Setting
MANDATORY EASY 5 MIN
Learn the types of safety stops and how to engage/disengage safety stop.
Types of Safety Stops
The stop modes provided to ensure user safety are as follows:• STO (Safe Torque Off): Stops Servo Off (motor power is immediately turned off)
• SS1 (Safe Stop 1): Servo Off after maximum deceleration stop
• SS2 (Safe Stop 2): Standby after maximum deceleration stop (pause)• RS1: Upon collision, it moves in the opposite direction of the collision and then enters standby (can only
be set in Collision Detection/TCP Force Limit Violation)
Doosan Robotics robots have two types of safety stop functions. Emergency Stop is used for general emergency
situations, and the robot can resume operation with Servo On after releasing the emergency stop. In case ofProtective Stop, the robot can resume operation by resolving the cause of Protective Stop and releasing thestop.
• Emergency Stop: It sets the stop mode when the Emergency Stop button of the teach pendant or an
additionally installed external device is activated• It activates when the Emergency Stop switch of the teach pendant or the one connected to the
TBSFT EM terminal is pressed.

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• Protective Stop: It sets the stop mode when the externally connected protective equipment is activated• It activates when the protective equipment connected to the TBSFT PR terminal is activated.
For more information about the Safety Stop functions, refer to Safety Function(p. 20).
How to engage/disengage Safety Stop
Press the Emergency Stop button on the teach pendant or activate the safety device connected to the Safety I/O
to activate emergency stop. Safety devices can be connected to Emergency Stop or Protective Stop throughWorkcell Manager > Robot > Safety I/O functions of the teach pendant screen.
• For more information about connecting a safety device to Safety I/O, refer to Connect Controller I/O(p. 132).
• For information on how to set the safety stop function for this connection in the program, See Safety
Signal I/O(p. 233).

Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Information message

A message providing information necessary for setting.

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Item

Description

3

Reset

A button to reset the settings.

4

Emergency Stop

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1

5

#Protective Stop#

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
SS1
SS2

6

Joint Angle Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

7

Joint Speed Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

8

Joint Torque Limit Violation

Only STO is available.

9

Collision Detection

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2
RS1

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10

Item

Description

TCP Robot Position Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

11

TCP Orientation Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

12

TCP Speed Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

13

TCP Force Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

14

Momentum Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

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Item

Description

Mechanical Limit Violation

A Safety Stop can be selected to be used for thecorresponding item.
The drop-down menu includes the following:
STO
SS1
SS2

16

Save

This button allows you to save the setting values.

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Safety Zone

Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Choose Whether to Enable

This button allows you to apply/unapply thecreated Safety Zone.

3

Zone Name

The name given by the user when creating the
Safety Zone

4

Zone Type

Safety Zone types (each type has different
parameters to set)
• Space Limit• Collaborative Zone
• Crushing Prevention Zone
• Collision Sensitivity Reduction Zone
• Tool Orientation Limit Zone
• Custom Zone

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5

Item

Description

Zone Shape

Safety Zone shapes• Cuboid• Cylinder• Sphere• Tilted Cuobid• Multi-plane Box

6

Edit

7

Delete8Add• This button allows the safe zone to be added.
• This button brings up a pop-up that allows thesafe zone to be added.

9

Save

This button allows any changes to the settings inrelation to the Safety Zone to be saved.

• This button allows the settings of the created
Safety Zone to be edited.
• Pressing this button brings up a pop-up thatallows the Safety Zone to be edited.
This button allows the safe zone to be deleted.

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Menu Items
Item

Description

1

Shape TypeThe desired Shape type can be selected from this dropdown.

2

Shape Image

This is the area where the image of the selected type is seen.

3

Coordinates

Either Base or World coordinates can be selected from thisdrop-down.

4

RadiusThis is where the radius value is entered.

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Item

Description

5

Center Position

The center value can be set in these fields for each of the X-,
Y-, and Z-axes.

6

Auto Calculation

This button allows the Auto Measure option to be enabled.

7

Auto Calculation Image

This area is where the image required for Auto Measure isseen. This appears when the Auto Measure option is enabled.

8

Point 1Each field is where the value for Point 1 is entered.

9

Point 2Each field is where the value for Point 2 is entered.

10

Auto CalculateThis button allows Auto Measure to be triggered.

11

Space Expansion

This field is where the Space Expansion can be set.

12

CancelThis button allows the setting to be canceled.

13

Confirm

This button allows you to confirm the setting.

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Menu Items
Item

Description

1

Shape TypeThe desired Shape type can be selected from this dropdown.

2

Shape Image

This is the area where the image of the selected type is seen.

3

Coordinates

Either Base or World coordinates can be selected from thisdrop-down.

4

RadiusThis is where the radius value is entered.

5

Upper

This field is where the upper value is entered.

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Item

Description

6

Lower

This field is where the lower value is entered.

7

Center Position

The center value can be set in these fields for each of the Xand Y-axes.

8

Auto CalculateThis button allows the Auto Measure option to be enabled.

9

Auto Calculate Image

This area is where the image required for Auto Measure isseen. This appears when the Auto Measure option is enabled.

10

Upper

This field is where the upper value is entered.

11

Lower

This field is where the lower value is entered.

12

OriginThis field is where the origin value is entered.

13

RadiusThis field is where the radius value is entered.

14

Auto CalculateThis button allows the Auto Calculate to be executed.

15

Space Expansion

This field is where the Space Expansion can be set.

16

CancelThis button allows the setting to be canceled.

17

Confirm

This button allows you to confirm the setting.

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Item

Description

1

Shape TypeThe desired Shape type can be selected from thisdrop-down.

2

Shape Image

This is the area where the image of the selected typeis seen.

3

Coordinates

Either Base or World coordinates can be selectedfrom this drop-down.

4

Point 1Each field is where the value for Point 1 is entered.

5

Point 2Each field is where the value for Point 2 is entered.

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Item

Description

6

Space Expansion

This field is where the Space Expansion can be set.

7

CancelThis button allows the setting to be canceled.

8

Confirm

This button allows you to confirm the setting.

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Item

Description

1

Space TypeThe desired Shape type can be selected from this dropdown.

2

Space Image

This is the area where the image of the selected type is seen.

3

Info. Message

This is an informative message required for the setting.

4

Coordinates

Either Base or World coordinates can be selected from thisdrop-down.

5

Point 1Each field is where the value for Point 1 is entered.

6

Point 2Each field is where the value for Point 2 is entered.

7

Point 3

Each field is where the value for Point 3 is entered.

8

Point 4Each field is where the value for Point 4 is entered.

9Space Expansion

This field is where the Space Expansion can be set.

10

CancelThis button allows the setting to be canceled.

11

Confirm

This button allows you to confirm the setting.

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Menu Items
Item

Description

1

Shape TypeThe desired Shape type can be selected from this dropdown.

2

Shape Image

This is the area where the image of the selected type is seen.

3

Coordinates

Either Base or World coordinates can be selected from thisdrop-down.

4

Upper

This field is where the upper value is entered.

5

Lower

This field is where the lower value is entered.

6

Plane Start X, Y

This field is where the start point of the plane is entered.

7

Pane End X,YThis field is where the end point of the plane is entered.

8

Add New Plane

Clicking this button adds a new plane.

9

Selection Point

Each field is where the Selection Point values are entered.

10Space Expansion

This field is where the Space Expansion can be set.

11

CancelThis button allows the setting to be canceled.

12

Confirm

This button allows you to confirm the setting.

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Overview of Space Limit and Zone settings.
For more information on Space Limits and Zones, see the PART 1. Safety Manual17, which includes the following
topics.
• Space Limit18• Zone19
Overview of Space Limit and Shape of Zones
How to set the shape of the Space Limit/Zone is as follows.
Item

Description

CuboidThe shape of the Space Limit/Zone is created as a cuboid.
• Enter the lower endpoint (Point 1) and upper endpoint (Point 2) of the cuboid and tap the
Save Pose button.

17 https://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430398
18 https://manual.doosanrobotics.com/pages/viewpage.action?pageId=13678060
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Item

Description

TiltedCuboidThe shape of the Space Limit /Zone is created as a tilted cuboid.

CylinderThe shape of the Space Limit/Zone is created as a cylinder.

• Enter the reference point (point 1), x-axis end point (point 2), y-axis end point (point 3), andz-axis end point (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 rightangle. (a deviation of +/- 5 degrees is acceptable)• If you use constrained motion functions such as "Plane Constraint" and "Axis Constraint" in
the Cockpit using Point 1 as the reference point, the points for point 2, point 3, and point
4are more easily found.

Enter the point at a radius distance, the point of the upper plane and the point of the lower planeof the cylinder, and tap the Save Pose button.

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Item

Description

Multiplane Box

The shape of the Space Limit/Zone is created as a multiplane box.

SphereThe shape of the Space Limit/Zone is created as a sphere.

• 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 on the area you want to set.

• To configure the radius, enter the positions of the center point and endpoint of the sphere,
and to configure the diameter, enter two endpoints of the sphere, then tap the Save Pose
button.

Like20Want to be the first person to like it?
Space Limit Setting
The space limit Workcell Item sets a virtual boundary at the outermost zone of the robot. The robot can be
operated without setting space limits, but it is recommended to set space limits to ensure safe operation of therobot.

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Space Limit can be reached through the drop-down menu at the top left in Robot Parameters > Safety
Settings > Safety Workspaces > Add New Workspace, and under Shape type, you can select Sphere, Cylinder,
Cube, Tilted Cuboid, or Polyhedron to set.
• Inspection Point can be set as the robot or TCP, and the valid space can be set as interior or exterior.
• The monitoring zone can be set as robot or TCP. It sets whether to detect the interior or exterior zone ornot.
• The default value is the entire zone and the set interior.
• The robot can be set properly after it is positioned in the set safety zone.
To set a Space Limit for the robot, under Safety Workspaces tap the Add New Workspace button, and under
Shape Type, select one of the following types: Cube, Cylinder, Multi-plane Box, Sphere, or Tilted Cuboid.
The safety password is required during setup and enablement.

Setting the custom zone
To set a Custom Zone, under Safety Workspaces tap the Add New Workspace button, and under Custom
Zone, select one of the following types: Cube, Cylinder, Multiplane Box, Sphere, or Tilted Cuboid. The safety
password is required during setup and enablement.

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Setting the Collaborative Zone
To set a Collaborative Zone, under Safety Workspaces tap the Add New Workspace button, and under
Collaborative Zone, select one of the following types: Cube, Cylinder, Multiplane Box, Sphere, or Tilted
Cuboid. The safety password is required during setup and enablement.

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Overview of Crushing Prevention Zone
To set a Crushing Prevention Zone, under Safety Workspaces tap the Add New Workspace , and under
Crushing Prevention Zone, select one of the following types: Cube, Cylinder, Multiplane Box Sphere, Sphere,
or Tilted Cuboid. The safety password is required during setup and enablement.

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Collision Sensitivity Reduction Zone
To set a Collision Sensitivity Reduction Zone, under Safety Workspaces tap the Add New Workspace button,
and under Collision Sensitivity Reduction Zone, select one of the following types: Cube, Cylinder,
Multipleane Box, Sphere, or Tilted Cuboid. The safety password is required during setup and enablement.

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Tool Orientation Limit Zone
To set a Tool Orientation Limit Zone, under Safety Workspaces tap the Add New Workspace button, andunder Tool Orientation Limit Zone, select one of the following types: Cube, Cylinder, Multiplane Box,
Sphere, or Tilted Cuboid. The safety password is required during setup and enablement.

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Nudge
Nudge Setting
If the robot stops in the collaborative zone due to safety stop mode SS2 or RS1,, reset is unavailable inInterrupted state but work can be resumed with nudge input• To set Nudge, select Robot > Nudge item from the Robot Workcell.
For more information, see Nudge21.

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Menu Items
Item

Description

1

Lock Toggle Button

Used to lock the set value. The safety password isrequired for modifying the set value.

2

Whether to use Nudge

This button allows you to choose whether to use
Nudge.

3

Force Input

This field is where the desired Force value is entered.

4

Delay Time

This field is where the delay time is set.

5

Save

This button allows you to save the value you set.

5.8 Remote Control Module
The Remote Control module enables remote control to be executed for tasks that you have already created.

 This module can be run at the administrator level.

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Item

Description

1

Warning

This will show the necessary precautions when using
the module.

2

Start Remote Control

This button allows you to start remote control after
all settings have been completed.

3

Mandatory Settings

This is a mandatory setting for remote control.
You can set modules and tasks and set safe input
signals.

4

Advanced Settings

This allows for advanced settings for remote control.
You can set each port for the task to start/pause/
stop/resume/servo on.
If remote control is set to run automatically after
rebooting, it will run as soon as Dart-Platform
reboots.

5.9 Task Editor Module

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Item
1

Edit Command Tool (CTR)

2

Task List

Description• Copy: Copies a command.
• Cut: Cuts a command.
• Paste: Pastes a copied or cut command.
• Delete: Deletes a command.
• Row Up: Moves a command up by a line.
• Row Down: Moves a command down by a line.
• Suppress: Annotates a command to exclude thecorresponding command from execution duringtask execution.
Displays the task order and a list of commands addedfrom the Command tab. Once the task is created, theGlobal Variables, Main Sub, and End Main Sub
commands are automatically added.
The list includes the following functions:• Multi Select: Allows you to select multiplecommands.
• Task Name: Allows you to edit the name.
• Save: Allows you to save the created Task.
• View More: Allows more functions related to thetask to be performed.
* For more information about the View Morebutton, see the section below.
• Undo: Allows you to cancel the very last action
executed.
• Redo: Allows you to redo a canceled action.

3

Command

Displays a list of commands to add to the Task List.
Once a command is selected, it is added to the Task
List.

4

PropertyIn this section, you can view and modify the settingsof commands added to the Task List.

5

Monitoring

In this section, you can simulate and further
configure the commands added to the Task List.

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Item

Description

1

About

Provides more information about the task.

2

New File

Creates a new file.

3#Open#

Opens a task that already exists.

4

Save

Saves the current task.

5

Save asSaves the current task with a different name.

6

ExportExports the current task.

7

Close

Closes the task.

8

DeleteDeletes the task.

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Item

Description

9

Settings

Sets system variables.

10

About_File name

This is where the file name is seen.

11

About_Recently Modified

This is where the date of the last modification is seen.

12

About_Last played Parameter

This is where the very last parameter executed isseen.

 Note• Global Variables: The global variable and global pose of the task program can be entered in
the Properties tab of Global Variables, and predefined global variables and global poses can beused in the property screen of the command added in the task list.
• Main Sub, End Main Sub: The commands you select are added to the bottom of Main Sub, andare executed in order from top to bottom, from the commands listed at the bottom of Main Sub
to the commands listed at the top of End Main Sub.
• When monitoring is performed with a variable registered in the Variable tab, the value change
frequency may be too fast to display the value on the screen.
• System variables can be registered without any limit on the number starting from software
version V2.8.
• If there are too many system variables registered, there may be long loading times for task
execution.

5.9.1 Overview of the Basic Concepts behind the Task Editor Move Command
MANDATORY EASY 5 MIN- 269 -

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Doosan Robotics robots offer nine motions. Robot movement is controlled by standard motions, MoveJ andMoveL, and 7 motions derived from these two motions.

Types of Robot Motion

1

MotionFeatureMoveJ

Each joint of the robot moves from the current angle to the target angle and stops
simultaneously• Enter target joint angle: Joint1, Joint2, Joint3, Joint4, Joint5, Joint6

2

MoveL

Robot moves to the target point while maintaining the robot TCP straight• Enter target position and rotation values: X, Y, Z, A, B, C

3

MoveSJ

Robot moves throughout all angles set by the robot• Continuous MoveJ motion movement• As it is a robot joint movement, the path cannot be estimated- 270 -

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4

MoveSX

Robot TCP moves throughout all points• Continuous MoveL motion movement• A straight path is maintained

5

MoveJX

The robot pose is designated as the robot TCP moves to the target point• MoveJ motion movement to the target point (X, Y, Z, A, B, C)• As it is a robot joint movement, the path cannot be estimated

6

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7

MoveB

Robot moves to the final target point through a section consisting of continuous straight lines
and arcs

8

MoveSpiral

Robot moves from the spiral center to the maximum radius

9

MovePeriodic

Robot moves in a path with a constant amplitude and cycle

MoveJ&MoveL
Before using robot motion, it is critical to understand the standard motions MoveJ and MoveL.
• J in MoveJ refers to joints. In this motion, each joint moves to the target angle and stops simultaneously.
• L in MoveL refers to linear. In this motion, the TCP on the robot end moves to the target pose (position andangle) with linear motion.

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Type

MoveJ

MoveL

1

Move
Method• All joints of the robot move from thecurrent angle to the target angle and stop
simultaneously• TCP on the robot end moves to theselected coordinates with linear motion

2

Advantage• Fast movement speed• Not influenced by a robot singularity• As TCP path maintains a straight line, themovement path of the robot can be
estimated• As target point is indicated using position
and rotation (X, Y, Z, A, B, C), theapproximate robot end point can be
estimated

3

Disadvantage• As all axes rotate to the target angle
simultaneously, movement path cannot
be estimated• As target angle is indicated with the angleof each axis, it is difficult to estimate therobot end point and robot pose

• Motion speed is relatively slower than
MoveJ
• Influenced by a robot singularity

4

Utilization• As it is not influenced by a robot
singularity, it is used to avoid
singularities• It is ideal in moving long distances• It is ideal in avoiding objects and finemovement

5.9.2 Overview of the Concept of Compliance/Force Control of the Task
Editor Command
OPTIONAL HARD 20 MIN- 273 -

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Force Control and Compliance Control are functions that control the force of the robot. Also, with the additionof motion commands, the force can be controlled at the same time as the motion is made. Compliance Control
and Force Control have the following differences, respectively.
1. Compliance Control• In the case of Compliance Control, the robot complies to the external force at the end TCP of therobot and when the external force is removed, a force is generated to move the robot back towhere it should be.
• This approach can be utilized when a robot is moving in a straight line on a bumpy surface and you
want to ensure that the robot moves without causing damage to itself or the surface. This can also
be utilized to prevent unexpected collisions near workpieces.
2. Force control• In the case of Force Control, the force is applied to the TCP at the end of the robot. Acceleration is
generated in the direction in which the force is generated, causing the robot to simultaneously
move in the direction of the force in addition to the direction of motion.
• When the robot comes into contact with an object, the force is applied to the object until the set
force and the object's repulsive force are in equilibrium.
• This approach can be utilized when a robot is moving in a straight line on a bumpy surface and you
want to ensure that a constant force is applied to a surface. This can also be utilized for tasks that
require the robot to push with a constant force, i.e., polishing work.

 NoteCompliance and Force Commands are executed based on the current coordinates. The default
coordinate of a task is the Base coordinates, and the coordinates can be changed with the Set
command.
1. Fig. 1 is the operating direction when force/compliance control in the +Z direction is applied on
the base coordinates.

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2. Fig. 2 is the operating direction when force/compliance control in the +Z direction is applied on
the tool coordinates.

Compliance Control
Compliance control is the function that complies to external force according to the set stiffness when force isapplied on the TCOP at the end of the robot. It balances forces at the target point, and it is a control methodthat generates repelling force if displacement occurs away from the balancing point. During compliance
control, the robot end bounces like a spring.
1. If collision is made when motion control is used alone, it is possible that the collided object may getdamaged.
• Doosan Robotics robots stop safely when a collision occurs, but depending on the user setting,such as Safety Limits > Collision Sensitivity, the following situations may occur.
2. If compliance control is set to on during motion control, the robot will move while complying to thecollided object.

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If F is external force, K is stiffness and X is distance, the following formulas are true.
• F=K*X• K=F/X• X=F/K
Based on the above formulas, if the stiffness of compliance control is set to 1000N/m and if the robot moves 1
mm, the external force generated is 1N.
• F=1000 N/m*0.001 m=1 N (0.001 m=1 mm)

 NoteOn the Property of Compliance Command, the following values can be set:
1. Mode• On: Enables compliance control• Change: If compliance mode is set to On, it changes to stiffness• Off: Disables compliance control
2. Stiffness Range• M/H Series: Translation(0~20000N/m), Rotation(0~1000Nm/rad)• A Series: Translation(0~10000N/m), Rotation(0~300Nm/rad)- 276 -

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PART 4. Overview of User Manual• Lower stiffness values will respond to external force more gently and will require moretime to return to the target point
3. Setting Time
• It is the time required for the current stiffness value to reach the set stiffness value (0-1s)

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PART 4. Overview of User Manual• Tool weight and TCP (Tool Center Point) must be accurately set. Inaccurate tool weight cancause the robot to detect the tool weight as external force, and setting the Compliance
Command On will generate position error.
• Tension of the dress pack may generate external torque on the robot. Therefore, take caution
when installing the dress pack.
• Compliance cannot be turned on or off while async motion or blending motion is being
executed.
• During Compliance Command on, only linear motion is allowed. Joint motions, such as MoveJ
and MoveSJ, are not allowed.
• During Compliance Command On, Tool Weight or TCP cannot be changed.
• During Compliance Command on, it is possible to not accurately reach the target point due tocompliance of the torque generated during motion execution. Therefore, it is recommended toturn on compliance control near the target point. Or, it is possible to minimize position error by
setting a large stiffness value.

Force Control
Force Control is a function that applies force in the force control direction until the set force and repelling force
are balanced• It moves the robot in the set force direction, and if contact with an object is made, it maintains the enteredforce (N)• It is capable of motion control in a direction different from the force direction while applying a constantforce• The minimum setting is +/- 10N, and it can be fine-tuned with a resolution of 0.2N
• Force Control is unavailable in singularity zone
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PART 4. Overview of User Manual NoteFrom the property of Force Command, the following values can be set.
1. Mode• On: Enables Force Control• Off: Disables Force Control
2. Desired Force Range• X, Y, Z: 10 - (each robot’s maximum) N• A, B, C: 5 - (each robot’s maximum) Nm• For more information about maximum force, refer to Upper/Lower Threshold Range andDefault Value of Safety Parameters(p. 66).
3. Target Direction• It moves to the selected target value of each direction.
• Multiple selections can be made.
• Force control can only be executed with direction setting after force setting.
• If one of the multiple selected directions reaches the target force, it will continue tomove until the target value is reached for the other direction.
4. Relative Mode
• If this mode is enabled, it calibrates the external force applied on the robot to 0 to
improve the force control accuracy.
i. When relative mode is disabled, the actual force applying on the target is equal
to the sum of the set force and external force.
ii. When relative mode is enabled, the actual force applying on the target is equal to
the set force.
• During force control, deviation can occur depending on the pose or external force.
• During force control, it is possible not to reach the exact target point. Therefore, it isrecommended to enable force control near the target point.
5. Setting Time
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5.9.3 Overview of Robot Motion Properties of the Task Editor
MANDATORY NORMAL 15 MIN

It is the property screen of the standard motions, MoveJ and MoveL commands. Other motions also have similar
properties.
• If motion is created with minimum settings, only the pose information (5 in the figure below) needs to beentered.

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Name

Description

1

AnnotationDescription or annotation of the command which can be found in the task window

2

Coordinates• MoveJ: None
• MoveL: Calculates the entered pose information based on the coordinates (BASE/
WORLD/TOOL/USER)

3

Selectmove type

1. Absolute movement• MoveJ: Each joint moves to the target angle• MoveL: Performs absolute movement by the target value based on the origin of
the selected coordinates
2. Relative movement• MoveJ: Each joint performs relative movement by the target angle from thecurrent angle• MoveL: Performs relative movement by set value based on the current point(relative movement based on the selected coordinates)

4

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PART 4. Overview of User Manual5

Pose
informationPose information is entered

6

Speed
setting

1. Global: Uses the speed designated as global in the property of MainSub
2. Local: Each speed is designated
3. Separate:• MoveJ: Each joint speed is designated separately• MoveL: None
4. Time: Movement speed of the motion is set as time

7

Operationmode

1. Sync: The motion command in progress is done and the next command is executed
2. Async: The next command is done simultaneously when the motion command begins
3. Radius: The async function is activated in the radius section before the motioncommand reaches its target point

8

Blending
mode

The option used to determine whether to ignore or overwrite the preceding motion
according to the blending mode of the following motion when the radius is set as an optionof the preceding motion• MoveJ: Angle of each axis ([J1, J2, J3, J4, J5, J6])
• MoveL: Position and rotation from coordinates ([X, Y, Z, A, B, C])

Operating mode
Sync
You can move to the next command with Sync when the command in progress is completed. It is set as default,
and used in general situations.

Async
Async starts the next command simultaneously when the motion command begins. It is used to smoothly
connect different motions, and it is also used when signal output is turned on/off simultaneously when the
motion begins.

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RadiusRadius option activates the async function in the radius section before the motion command reaches its target
point. With this option, it is possible to smoothly connect to the next motion command without stopping thecurrent motion command. The radius is set to 0 mm as default.

 Caution
Radius option has following characteristics and limits:• Radius function can only be used in sync mode.
• Conditions and calculations can be performed in the async section within the radius.
• Radius cannot exceed 1/2 of the total distance between the current and target location before
the motion is executed.
• ex. If the movement distance is 100 mm, the maximum radius available is 50 mm.
• Motion commands which cannot apply Blending between motions are as follows: Blending isalready applied in these commands, so applying radius to these commands and executing
them causes errors. Utilizing commands, such as WaitMotion and StopMotion, can help avoid
errors.
• MoveSX, MoveSJ, MovePeriodic, MoveSpiral, MoveB

Blending mode
It is the option used to determine whether to ignore or overwrite the preceding motion according to theblending mode of the following motion when the radius is set as an option of the preceding motion.

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PART 4. Overview of User ManualDuplicate
Duplicate is a mode that maintains the preceding motion to allow the following motion to overlap with thepreceding motion.

Override
Override ignores and overwrites the preceding motion to execute the following motion.

5.9.4 Overview of Sub/Call Sub
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Sub is an abbreviation of Subroutine. A subroutine refers to a process that minimizes the number of steps in a
program by calling necessary parts when two or more duplicate parts are present.
• Doosan Robotics robots provide a CallSub command to call Sub commands and the corresponding Sub
paragraph.
• The Sub command functions as defined in Python.

 Note• Sub paragraph must be added in MainSub, the start of a Main paragraph, and EndMainSub, theend of a Main paragraph.
• In addition to repetition, the Sub command is also used to simplify a Main paragraph. Utilizing a
Sub command will allow intuitive identification of what task of a Main paragraph is being
performed at the moment.
• Utilizing a Sub command allows Sub paragraph unit testing.

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The sample where a Sub command is used to execute grip and release motions of a robot gripper consists of thefollowing.
1. Lines of the Main paragraph execute the task program in sequential order starting from the first line.
2. Move to Sub(A) called by Call Sub.
• Sample• Program: Call the Grip subroutine.
• Robot: No motion.
3. Sub(A) is executed. All Sub paragraph lines are executed in sequential order, returns to the Main
paragraph, and executes the next line.
• Sample• Program: Execute the Grip subroutine lines in sequential order. Use the Set command to set
Output [1] as ON and Output [2] as OFF.
• Robot: The robot gripper executes Grip motion.
4. Move to Sub(B) called by Call Sub.
• Sample• Program: Call the Release subroutine.

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PART 4. Overview of User Manual• Robot: No motion.
5. Sub(B) is executed. All Sub paragraph lines are executed in sequential order, returns to the Main
paragraph, and executes the next line.
• Sample• Program: Execute the Grip subroutine lines in sequential order. Use the Set command to set
Output [1] as OFF and Output [2] as ON.
• Robot: The robot gripper executes Release motion.

Add Sub command
1. In the Task Editor module, under the Flow Control section of the right-hand Command menu, add a Sub
command.
2. Enter the subroutine name.

Add CallSub command
1. In the Task Editor module, under the Flow Control section of the right-hand Command menu, add a Call
Sub command.
2. Select the subroutine name registered with Sub command.

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PART 4. Overview of User Manual Note• If the number of lines increases in the task program, it may become difficult to find subroutines.
In such case, touch the Go to selected Subroutine in the Property of CallSub command to movethe focus to the corresponding Sub command line.

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5.10 Status Module
5.10.1 Screen layout for the Status module

Menu Items
Item

Description

1

Controller Digital Input

This section is where the controller digital input
is set.

2

Safety Input

This section is where the safety input is set

3

Controller Digital Output

This section is where the controller digital output
is set.

4

Controller Analog Input

This section is where the controller analog input
is set.

5

Controller Analog Output

This section is where the controller analog output
is set.

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Item

Description

6

Flange Digital Input

This section is where the flange digital input isset.

7

Flange Digital Output

This section is where the flange digital output is
set.

8

RefreshThis button allows you to change the settings to
the defaults.

Controller I/O
Controller Digital Input

1. Check the port number of the device connected to the controller.
2. The following is displayed depending on the digital input status of the corresponding number.
• If the digital signal is a high signal, the icon is displayed in light green.
• If the digital signal is a low signal, the icon is displayed in gray.

 Note• The same is true when the digital input is set as a safety input, the icon is displayed in blue
when the digital signal is high, and gray when it is low.
Safety input

1. Check the port number of the device connected to the controller.
2. Depending on the digital input status of the number, it is displayed as follows.
• When the digital signal is high, the icon color is light green.

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PART 4. Overview of User Manual• When the digital signal is low, the icon color is gray.
Controller Digital Output

1. Check the port number of the device connected to the controller or flange.
2. Press the On/Off icon corresponding to the port number to activate or deactivate digital output.
• When the On icon is pressed, the icon changes to light green and the corresponding port is enabled.
• When the Off icon is pressed, the icon changes to light green and the corresponding port isdisabled.
Controller Analog Input

1. Press the drop-down list on the analog input of the controller to select the item to check.
2. Check the analog input information of the selected item displayed on the screen.

 Note• The analog input value cannot set the input value in the status window.

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PART 4. Overview of User ManualController Analog Output

1. Check the analog input information displayed on the screen according to the selected item.
• Analog output information of the selected item is displayed on the right side of the drop-down list.
• The default value for analog output signal type is voltage.
2. Modify the analog output value.

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Flange I/OFlange Digital Input
1. Check the port number of the device connected to the flange.
2. The following is displayed depending on the digital input status of the corresponding number.
• If the digital signal is a high signal, the icon is displayed in light green.
• If the digital signal is a low signal, the icon is displayed in gray.

 Note• If the digital signal is High even when the digital input is set as the safety input, the icon isdisplayed in blue, and if it is Low, it is displayed in gray.
Flange Digital Output
1. Check the port number of the device connected to the flange.
2. Press the On/Off icon corresponding to the port number to activate or deactivate digital output.
• When the On icon is pressed, the icon changes to light green and the corresponding port is enabled.

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PART 4. Overview of User Manual• When the Off icon is pressed, the icon changes to light green and the corresponding port isdisabled.

5.11 Logs Module
With this module, logs can be managed by any criteria and dates.

Menu Layout

Item

Description

1

Section for Search

Allows you to search by any criteria.

2Date Filter

Allows you to view logs for a period of up to a month.

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3

Item

Description

Category

Allows you to view logs by selecting a category.
The categories are:
• All
• Control System• Control Algorithm• Inverter• Safety Controller• Modbus Communication• System Message

4

Level

This is where you can select the type of log.

5

Error

If checked, error logs are seen.

6

Warning

If checked, warning logs are seen.

7

Information

If checked, information logs are seen.

8

Comment

If checked, comment logs are seen.

9

Filter ResetThis button allows you to initialize the selected log type.

10

Code or Keyword

This field is where you search for the desired code or
keyword.

11

SearchThis button allows you to search for what you need.

12

Log Table header

Header of the log table

13

Log Time

The time of each log is seen.

14

Category

The category of each log is seen.

15

Code

The code of each log is seen.

16

Log Message

Log messages are seen.

17

Clear

This button allows you to delete the log.

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5.12 Store Module
Tapping the Store module redirects you to the Dr.Dart-Store link.

 NoteAt this time, the Store module can only be executed at the administrator level.

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Item

Description

1

SearchThis field is where you search for any module.

2

Menu Bar

The categorization is based on the features of the module.

3

Trending

This is the Home screen, where the currently popular
modules are seen.

4

FAQs

This is where you can find the frequently asked questions
regarding the Store.

5

Account

This is your account, which you can tap to manage youraccount settings and upload/download modules.

 알아두기
In the existing legacy Dart-Platform, communication modules were installed as standard, but in thecurrent Dr.Dart-Platform 3, there are communication modules that must be downloaded through theStore separately from the basic modules.

The list below is modules that are installed as standard in Dr.Dart-Platform3.
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PART 4. Overview of User Manual• TCP• AdmittanceControl• ImpedanceControl

You can download the modules below from the User Module > Device section of the Store.
• Focas Master• Digital IO TEST• ModbusTCP Master• ModbusRTU Master• TCP Client• TCP Server• Serial• IndustrialEthernet GPR Test

5.13 Settings Module

Menu Description

1

Item

Description

List

This section shows the entire menu list of System
Settings.

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Item

Description

2

Current location

The currently selected menu is displayed in blue.

3

Lock

This function requires an administrator password.

5.13.1 Setting language in system settings.
To set the UI language of the operation program, follow these steps:
1. Tap the Settings Module button on the main menu, and under System Settings, select Language &Format.
2. Select the language to set from the language list and tap the Save button.

5.13.2 Changing Safety Password
You can change your safety password to a new one.
This function is only available unless a Safety Password is set.

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5.13.3 Setting and disabling Password Lock.
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When changing various settings after robot installation, the process can be troublesome as the systemconstantly requests the password to be entered.
In this case, enter the password in Setting > Safety Password. If the system requests the password when the
password is not changed, enter the following password.
• adminTouch the Password Lock toggle switch to disable the Password Lock function. Then all password lock functions
will be disabled until the controller is rebooted.

 Caution• Once the administrator finishes setting up the system, the password lock function must be
enabled again before the user starts operating the system.

5.13.4 Making Settings in Network Section
The Network section is where you can make settings related to the connection between the controller and the
IDE.
When configuring the controller, you can select either a static address or DHCP.

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When configuring the IDE Connection, the IP can be selected from a list or the IP can be directly entered.

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PART 4. Overview of User Manual To save the settings, the Save button at the bottom must be pressed.

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5.13.5 Setting the Robot
Setting the Robot Information

Menu Items
Item

Description

1

Controller Serial NumberThis is where the serial number of the controller
is seen.

2

Copy Controller Serial NumberThis button allows you to copy the serial
number.

3

Robot Serial NumberThis is where the serial number of the robot is
seen.

4

Robot Model

This is where the robot model name is seen.

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Robot 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, but the time can be changed to a time the user prefers.

Item

Description

1

Enable Idle Servo Off

This button allows you to enable idle servo off.

2

Servo Off SettingThis field is where you set the idle servo off inminutes.

3

Save

This button allows you to save the changed
settings.

5.13.6 Robot update
Updating and managing the Robot.
After entering the Safety Password, you can select the desired update file from the Update section, on your PC
to initiate the update.

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Menu Layout
Item

Description

1

Current Version Info

Displays the current application/system/OS
version information.

2

Update

You can download update files automatically or
manually.

System restore
After entering the Safety Password, you can restore by selecting the desired restoration version from therestoration list.

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메뉴 구성
Item

Description

1

Current Version Info

Shows current application/system/OS version
information.

2

Backup List

It shows a list of restore versions that can be backed
up. Items on the list are created when updated using
the update function.

3

RestoreWhen you select the restore version list, the restore
button becomes activated.

5.13.7 Managing Data
List of installed modules
This menu is where you can view and manage the installed modules.

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Menu Items
Item

Description

1

CategoryOn the module list, you can select the type of module
or status category you want to view, as well as search
for them.

2

Install from File

This button allows you to add your files to install themodule.

3

Module Name

The names of the installed modules are seen.

4

Module Ver.

The versions of the installed modules are seen.

5

SDK Ver.

The SDK versions of the installed modules are seen.

6

Installed Date

The dates each module was installed are seen.

7

Activation

Whether each is enabled is seen.

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8

Item

Description

3 dot button

If it is enabled, 3 dots are seen, and tapping the 3 dotsbrings up the menu below.

• Deactivate: Disables the enabled module.
• Delete: Deletes the enabled module.

Export log
In this menu, you can export Dr.Dart-Platform, Controller, OTA, and OS logs.

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item

explanation1

Select log period

You can select the period of logs to be exported.

2

Select log type

Check the objects you want to export.

3

Export log button

Activated when there is more than one selected
log.

Export & Import Data
This menu allows you to export and import data from your Dart-platform.

Menu item
Item

Explanation

1

Export Data

After selecting the corresponding radio button, theexport button will be activated when you select the data
to export on the right.

2

Import Data

When you select the corresponding radio button, theImport button becomes activated.

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3

Item

Explanation

Data to Export

You can select the data to export.

When the Import radio button is selected, the data selection screen on the right is disabled.

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Factory Reset

The Factory Reset function can be used to delete all user data and logs saved on the robot. Once the factory
reset is in progress, the database, log files, Workcell Items and task files are deleted.
1. Tap the Settings Module button on the main menu and select Factory Reset.
2. To delete all data, tap the Reset button. To selectively delete log files, tap the Clear button.
3. Once the factory reset is complete, a restart of the system is required.

5.14 Jog Plus Module
The user can select a manual movement method from the Jog tab.
• Jog: It moves the robot joint or TCP to the joint axis or coordinate axis the user selected• Move: It moves the robot joint or TCP to the target point the user entered
Robot movement consists of two types.
1. Joint Motion: It moves each joint linearly with a rotating motion
2. Task Motion: It moves the end linearly to the target point

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1. Select the Joint tab.
2. Select the axis to move. For example, You can select J1.
3. Press the +/- button to move the robot. The robot moves while the +/- button is pressed, and the current
location is displayed on the screen in real-time.
The following is the method how to move the robot using task motion on the jog screen:

1. Select the base coordinates. The robot can be moved according to the BASE coordinates or the TOOL
coordinates.
2. Select the direction to move. For example, X-axis can be selected.
3. Press the +/- button to move the robot. The robot moves while the +/- button is pressed, and the current
location is displayed on the screen in real-time.

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For more information about jog movement, move and align, refer to Jog Screen(p. 319), and Move Panel(p. 324)
respectively.

 Note• If the toggle switch of the actual mode on the top left of the Jog screen is turned off, the robot
moves only on the virtual screen on the left of the Jog screen. The actual robot moves if theactual mode toggle switch is turned on.

With the Jog Plus module, the user can explore the entire work space in manual mode or set the Operation
Space as the robot operation space. The movement angle of each axis can be limited according to the selected
operation space and joint angle limit of the safety setting.
To use the Jog Plus function, tap the Jog Plus Module on the main menu.
• The Jog function cannot be used during Servo Off.
• The robot is operated manually in the Jog Plus screen, so the robot only moves when the Jog button ispressed.
• It is possible to move the robot based on the current position on the Jog Plus 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 Plus tab screen and Move tab screen as a
joint or task.

 Note• If the robot cannot be navigated due to being located in a space other than the operation
space of the Jog Plus mode, set the robot operation space to “None”to allow the robot to benavigated.

 NoteThis module is not available in Auto mode. Tapping the toggle button in the bottom right makes it
available in Manual mode.

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Using Job Plus (Jog+) allows you to use the jog feature simultaneously while performing different work. Thiscan be utilized when manual control is required to move the robot to the target point during teaching.

Jog Menu Layout
Item

Description

1

Select panel type

You can choose the location of the move button.

2

3D simulation

This is the 3D viewer, where you can see how the robot
looks.

3

Simulator Alignment

You can utilize this section to steer the simulator.

4

Use Increment

This button allows you to enable angle or position
increments.

5

Angle Increment

This section is where the angle increment on the selectedaxis is set.

6

Position Increment

This section is where the position increment on theselected axis is set.

7

Collision

This field is where you set the Robot Collision.

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Item

Description

8

Force Monitoring

This section is where you set the forces in the X, Y, and Z
axes based on Base, Tool, World, Reference and among
others.

9

Select reference coordinate system

Select a reference coordinate system to display or jog thetask coordinates in Figure 11. It can be Base, World, or User
coordinates.

10

Joint panel

You can select the joint axis to jog.

11

Task panel

You can select the task axis to jog.

12

Copy Pose J button

This button allows you to copy Pose J.

13

Copy Pose X button

This button allows you to copy Pose X.

14

Move - Button

You can have the robot move in the - direction based oneach axis. At this time, you can figure out the direction of
the - and + on the 3D simulation on the left-hand side.

15

Move + Button

You can have the robot move in the + direction based oneach axis. At this time, you can figure out the direction of
the - and + on the 3D simulation on the left-hand side.

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PART 4. Overview of User ManualMove Menu Layout
Item

Description

1
6

Reference Co
ordinates

Select the reference coordinate system to be used for the task coordinates in Figure 18.
You can choose Base, World, or User coordinates.

1
7

Joint Posture

Displays the current robot posture and the target joint posture.

1
8

Task Posture

Displays the current robot posture and the target task posture that fit the selectedreference coordinate system.

19Paste Joint
PosturePaste the posture value copied to the clipboard into the joint posture panel.

20Paste Task
PosturePaste the posture value copied to the clipboard into the task posture panel.

2
1

Joint MovebuttonThis button causes the robot to move to the target joint posture.

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2
2

Item

Description

Task MovebuttonThis button causes the robot to move to the target task posture.

5.14.1 Jog Screen

Jog Menu Layout
Item

Description

1

Select panel type

You can choose the location of the move button.

2

3D simulation

This is the 3D viewer, where you can see how the robot
looks.

3

Simulator Alignment

You can utilize this section to steer the simulator.

4

Use Increment

This button allows you to enable angle or position
increments.

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Item

Description

5Angle Increment

This section is where the angle increment on the selectedaxis is set.

6

Position Increment

This section is where the position increment on theselected axis is set.

7

Collision

This field is where you set the Robot Collision.

8

Force Monitoring

This section is where you set the forces in the X, Y, and Z
axes based on Base, Tool, World, Reference and among
others.

9

Select reference coordinate system

Select a reference coordinate system to display or jog thetask coordinates in Figure 11. It can be Base, World, or User
coordinates.

10

Joint panel

You can select the joint axis to jog.

11

Task panel

You can select the task axis to jog.

12

Copy Pose J button

This button allows you to copy Pose J.

13

Copy Pose X button

This button allows you to copy Pose X.

14

Move - Button

You can have the robot move in the - direction based oneach axis. At this time, you can figure out the direction of
the - and + on the 3D simulation on the left-hand side.

15

Move + Button

You can have the robot move in the + direction based oneach axis. At this time, you can figure out the direction of
the - and + on the 3D simulation on the left-hand side.

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Execute based on Robot Joint

To adjust the angle based on the robot joint, follow these steps:
1. Select the axis (J1-J6) to adjust the angle on the Joint Panel.

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2. Press and hold the Direction Buttons (and) to adjust the angle of the corresponding axis.

Executing based on Robot Base

To move the robot based on base coordinates, follow these steps:
1. Select the Base as a reference coordinate system.
2. In the task panel, select the axis (X~RX) for which you want to adjust the angle.
3. Press and hold a direction button (+,_) to move the corresponding axis.

Executing based on World Coordinates

To move the robot based on World Coordinates, follow these steps:
1. Select the World as a reference coordinate system.
2. In the task panel, select the axis (X~RX) for which you want to adjust the angle.
3. Press and hold a direction button (+,_) to move the corresponding axis.

Executing based on Robot Tool

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1. Select the tool as a reference coordinate system.
2. In the task panel, select the axis (X~RX) for which you want to adjust the angle.
3. Press and hold the Direction button (+,_) to move the corresponding axis.

 Note• Safety area does not apply in virtual mode.
• Rx, Ry and Rz are executed according to TCP (tool center position).

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5.14.2 Move Panel

Move Menu Layout
Item

Description

1
6

Reference Co
ordinates

Select the reference coordinate system to be used for the task coordinates in Figure 18.
You can choose Base, World, or User coordinates.

1
7

Joint Posture

Displays the current robot posture and the target joint posture.

1
8

Task Posture

Displays the current robot posture and the target task posture that fit the selectedreference coordinate system.

19Paste Joint
PosturePaste the posture value copied to the clipboard into the joint posture panel.

20Paste Task
PosturePaste the posture value copied to the clipboard into the task posture panel.

2
1

Joint MovebuttonThis button causes the robot to move to the target joint posture.

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2
2

Item

Description

Task MovebuttonThis button causes the robot to move to the target task posture.

Setting Angle to Move

To move the robot at a specific angle, follow these steps:
1. Select the Move tab
2. Enter the target angle of the robot joint.
3. Enable the Real Mode.
4. Tap and hold the Move to Corresponding Pose button to adjust the robot joint angle.

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Setting Base Reference Coordinates to Move

To move the robot based on its base coordinates:
1. Select the Move tab and then select the Reference Coordinate item.
2. Select the display coordinate as the base.
3. Tap and hold the button to move to the corresponding task position to move to the set coordinates.

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Setting World Coordinates Reference Coordinates to move

To move the robot based on World Coordinates, follow these steps:
1. Select the Move tab and Reference Coordinates.
2. Select World as the display coordinates 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 coordinates.

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Setting Coordinates to Move Based on the Tool

To move the robot based on the 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 to the tool.
4. Tap and hold the Move to Corresponding Pose button to go to the set coordinates.

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5.14.3 Align Panel

Align Menu
Item

Description

1

Coordinates

Select the reference coordinate system for positions inFigures 4 and 5.

2

Tool Axis

Select which axis of TCP to align.

3

Target direction

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Item

Description

4

Pick points on a plane

Pick three points to define the plane. The definitions
are as follows:

5

Target Point Alignment

Select a point to place TCP. This is optional and if
unchecked, only the orientation will be sorted from thecurrent location.

6

Robot Posture

Displays the current robot's joint posture and task
posture. For task posture, it follows the reference
coordinate system selected in Figure 1.

7

Home Position

When you click the button, it moves to the home
position.

8

Align to Axis

When you click the button, it algins.

5.15 Appendix, DART Platform installation environment(recommended)
1. Windows OS: Windows 10 Enterprise (64bit)
1. CPU : 2.80GHz
2. GPU : GMA 4500,GMA HD (Intel)
3. Memory : 16GB
4. Java SDK : jdk1.8.0_152 (64bit)
5. Screen resolution: 1280 x 800

2. Mac OS: Ventura 13
1. CPU: M1- 330 -

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2. Memory : 8GB

3. Android OS: Android 13
1. CPU: Snapdregon8 Gen2
2. Memory: 8GB- 331 -

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