Software version : V2.

9
Document version : V2.7
Original instructions(en_US)

User manual(V2.9)

A0509 | A0509S | A0912 | A0912S

© 2022 Doosan Robotics Inc.

Table of Contents

1 Preface ....................................................................................... 9
1.1 Copyright ................................................................................................. 9
1.2 Open Source Software License Information (OSS)........................................ 9

2 PART 1. Safety Manual.................................................................10

2.1 Manual Indication Conventions ................................................................ 10
2.2 Safety Symbols....................................................................................... 10
2.3 General Instructions ............................................................................... 11
2.4 Precautions for Use................................................................................. 13
2.5 Product Usage ........................................................................................ 14
2.6 Risk Assessment ..................................................................................... 15
2.7 Potential Risks ....................................................................................... 16
2.8 Robot Mode and State ............................................................................. 16
2.8.1 Manual Mode ............................................................................................................ 16
2.8.2 Automatic Mode........................................................................................................ 17
2.8.3 Other Mode .............................................................................................................. 17
2.8.4 Status and Flange LED Color for Each Mode ................................................................. 17
2.9 Product Warranty and Responsibility ....................................................... 21
2.9.1 Scope of Warranty .................................................................................................... 21
2.9.2 Restrictions and Exceptions of Warranty..................................................................... 22
2.9.3 Transfer ................................................................................................................... 22
2.9.4 Contact .................................................................................................................... 22
2.10 Safety Function ...................................................................................... 22
2.10.1 Safety-rated Stop Subfunction................................................................................... 23
2.10.2 Safety-Rated Stop Function ....................................................................................... 25
2.10.3 Safety-rated Monitoring Function .............................................................................. 27
2.10.4 Safety-Rated I/O ....................................................................................................... 30
2.11 Safety Function Settings ......................................................................... 31
2.11.1 Robot Limits............................................................................................................. 33
2.11.2 Safety I/O ................................................................................................................. 35

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2.11.3 Safety Stop Modes .................................................................................................... 39
2.11.4 Nudge Setting........................................................................................................... 40
2.11.5 Space Limit .............................................................................................................. 41
2.11.6 Zone ........................................................................................................................ 41
2.12 Other Safety Measures ............................................................................ 42
2.13 Validity and Responsibility ...................................................................... 42
2.14 Disclaimer .............................................................................................. 43
2.15 Declaration and Certification ................................................................... 44
2.15.1 Europe Machinery Directive Attestation of Conformity................................................. 44
2.15.2 Europe EMC Directive Attestation of Conformity.......................................................... 47
2.15.3 U.S. NRTL Certification (U.S., CANADA) ....................................................................... 48
2.15.4 Functional Safety Certification .................................................................................. 50
2.15.5 Voluntary Safety Confirmation Declaration (KCs) ........................................................ 52
2.16 Stop Distance and Stop Time ................................................................... 57
2.16.1 Measurement Methods and Conditions ....................................................................... 57
2.16.2 M1013 Stop Category ................................................................................................ 60
2.16.3 M0609 Stop Category ................................................................................................ 64
2.16.4 M0617 Stop Category ................................................................................................ 67
2.16.5 M1509 Stop Category ................................................................................................ 71
2.16.6 H2017 Stop Category................................................................................................. 75
2.16.7 H2515 Stop Category................................................................................................. 78
2.16.8 A0509(S) Stop Category............................................................................................. 81
2.16.9 A0912(S) Stop Category............................................................................................. 85
2.17 Upper/Lower Threshold Range and Default Value of Safety Parameters ...... 89
2.17.1 A0509, A0509S .......................................................................................................... 89
2.17.2 A0912, A0912S .......................................................................................................... 90

3 PART 2. Starting Up the Robot......................................................92

3.1 Journey Map .......................................................................................... 92
3.1.1 Step 1. Robot Installation .......................................................................................... 92
3.1.2 Step 2. Tool Installation and I/O Testing...................................................................... 93
3.1.3 Step 3. Robot Operation and Setting .......................................................................... 93
3.1.4 Step 4. Create Task Program...................................................................................... 94
3.2 Step 1. Robot Installation ........................................................................ 95

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3.2.1 Remove packing ....................................................................................................... 95
3.2.2 Connect cable to the controller .................................................................................. 96
3.2.3 Secure the robot base ............................................................................................... 98
3.2.4 Connect power to controller ...................................................................................... 99
3.2.5 Position controller ...................................................................................................100
3.2.6 Power-up controller.................................................................................................101
3.2.7 Disengage emergency stop button ............................................................................102
3.2.8 Disengage packaging pose........................................................................................103
3.2.9 Servo Off.................................................................................................................106
3.3 Step 2. Tool Installation and I/O Testing...................................................107
3.3.1 Install tool...............................................................................................................107
3.3.2 Turn system power off .............................................................................................108
3.3.3 Connect wires..........................................................................................................112
3.3.4 Turn system power on..............................................................................................113
3.3.5 Test controller and flange I/O....................................................................................115
3.4 Step 3. Robot Operation and Setting .......................................................116
3.4.1 Learn how to engage/disengage Safety Stop ..............................................................117
3.4.2 Manual Operation - Learn how to perform safety recovery/powerless motion...............118
3.4.3 Manual Operation - Learn how to use jog ...................................................................119
3.4.4 Manual Operation - Learn how to perform direct teaching...........................................122
3.4.5 Disengage the Password Lock ...................................................................................123
3.4.6 Learn about Workcell Manager and Workcell Item ......................................................124
3.4.7 Robot Setting - Set robot limits .................................................................................125
3.4.8 Robot Setting - Set World Coordinates .......................................................................126
3.4.9 Workcell Item - Add robot installation pose (Mount) ...................................................127
3.4.10 Workcell Item - Add Tool Weight................................................................................129
3.4.11 Workcell Item - Add Tool Shape .................................................................................130
3.4.12 Workcell Item - Add End Effector ...............................................................................131
3.4.13 Workcell Item - Add Space Limit ................................................................................132
3.5 Step 4. Create Task Program...................................................................134
3.5.1 Start programming ..................................................................................................134
3.5.2 Understand robot motion .........................................................................................136
3.5.3 Understand robot motion properties.........................................................................140
3.5.4 Try the sample MoveJ/MoveL commands ...................................................................145
3.5.5 Understand compliance/force control .......................................................................150

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3.5.6 Try Compliance command samples ...........................................................................156
3.5.7 Try force command samples .....................................................................................161
3.5.8 Skill - Try Pick & Place samples .................................................................................164
3.5.9 Utilize Sub/Call Sub..................................................................................................168
3.5.10 Utilize debugging.....................................................................................................171

4 PART 3. Installation Manual ....................................................... 173

4.1 Product Introduction .............................................................................173
4.1.1 Component Check....................................................................................................173
4.1.2 Names and Functions ...............................................................................................174
4.1.3 System Configuration ..............................................................................................180
4.1.4 Product Specifications, General ................................................................................181
4.1.5 Robot Specifications ................................................................................................181
4.1.6 Nameplate and Label ...............................................................................................190
4.2 Installation ...........................................................................................191
4.2.1 Cautions during Installation .....................................................................................191
4.2.2 Installation Environment..........................................................................................192
4.2.3 Hardware Installation ..............................................................................................193
4.2.4 Emergency Stop Button Setting Switch .....................................................................205
4.2.5 Power On/Off Controller Switch ................................................................................206
4.3 Interface ...............................................................................................208
4.3.1 Flange I/O................................................................................................................208
4.3.2 Connecting Controller I/O .........................................................................................212
4.3.3 Network Connection ................................................................................................228
4.4 Transportation ......................................................................................233
4.4.1 Caution during Transportation .................................................................................233
4.4.2 Pose for Robot Transportation ..................................................................................233
4.4.3 Package Specitications.............................................................................................234
4.5 Maintenance..........................................................................................234
4.6 Disposal and Environment ......................................................................235
4.7 Annex. System Specification...................................................................235
4.7.1 Manipulator ............................................................................................................235
4.7.2 Controller ...............................................................................................................238
4.7.3 Emergency Stop Button............................................................................................242

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4.7.4 Smart Pendant (Option) ...........................................................................................242
4.7.5 Teach pendant.........................................................................................................242
4.7.6 FTS(A0509S, A0912S only) ........................................................................................243
4.8 Annex. DC Controller (CS-02) ..................................................................244
4.8.1 DC Controller (CS-04) ...............................................................................................244

5 PART 4. User Manual ................................................................. 257

5.1 System Power On/Off .............................................................................257
5.1.1 When using a teach pendant .....................................................................................257
5.1.2 In case of using only E-STOP Box ...............................................................................258
5.1.3 When using a smart pendant (optional item) ..............................................................259
5.1.4 System Booting .......................................................................................................260
5.2 Program screen configuration ................................................................260
5.2.1 Home Screen Overview ............................................................................................261
5.2.2 Status window.........................................................................................................263
5.2.3 Status Display Area ..................................................................................................264
5.2.4 Work Screen Area.....................................................................................................265
5.2.5 Main Menu...............................................................................................................265
5.3 Understanding the robot ........................................................................266
5.3.1 Functional Limits of each Robot Series ......................................................................266
5.3.2 What is Singularity? .................................................................................................269
5.3.3 What is Euler Angle A, B, C? .......................................................................................270
5.4 Servo On ...............................................................................................273
5.5 I/O and Communication..........................................................................274
5.5.1 I/O Status Check ......................................................................................................274
5.5.2 I/O Test ...................................................................................................................276
5.5.3 Modbus Test ............................................................................................................276
5.5.4 Status > Slave Monitoring .........................................................................................277
5.6 What is a Workcell Item?.........................................................................278
5.6.1 Add Workcell Item....................................................................................................280
5.6.2 Deprecated Workcell Item ........................................................................................281
5.6.3 Unavailable Workcell Items ......................................................................................283
5.7 Utilizing Workcell Manager .....................................................................284
5.7.1 Robot Safety Setting ................................................................................................284

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5.7.2 Robot Setting ..........................................................................................................285
5.7.3 End Effector Setting .................................................................................................309
5.7.4 Machine Tool Setting................................................................................................316
5.7.5 Peripheral Setting....................................................................................................317
5.8 Tool Setting...........................................................................................318
5.9 Manual Robot Operation ........................................................................319
5.9.1 Jog Function ...........................................................................................................319
5.9.2 Hand-Guiding Operation ..........................................................................................339
5.9.3 Safety Recovery Mode ..............................................................................................349
5.9.4 Backdrive Mode .......................................................................................................351
5.10 Automatic Robot Operation ....................................................................352
5.10.1 Robot Teaching and Execution ..................................................................................352
5.10.2 Task Builder ............................................................................................................353
5.10.3 Task Writer..............................................................................................................385
5.10.4 Task Execution and Stopping ....................................................................................395
5.10.5 Load Saved Tasks.....................................................................................................396
5.11 Environment Setting ..............................................................................396
5.11.1 Language Setting.....................................................................................................396
5.11.2 Date and Time Setting ..............................................................................................397
5.11.3 Robot Setting ..........................................................................................................397
5.11.4 Change and Disable Password...................................................................................403
5.11.5 User Role Setting .....................................................................................................404
5.11.6 Network Setting ......................................................................................................405
5.11.7 System Update ........................................................................................................408
5.11.8 Check and Enter Robot License Code .........................................................................411
5.11.9 Check Log................................................................................................................411
5.11.10 Factory Reset ..........................................................................................................412
5.11.11 Screen Saver Mode Setting .......................................................................................413
5.11.12 Idle Servo Off...........................................................................................................413
5.11.13 Friction Calibration..................................................................................................413
5.11.14 KT Smart Factory Setting Screen...............................................................................414
5.11.15 Backup & Restore.....................................................................................................414
5.11.16 Workcell & Skill Installation and Removal ..................................................................417
5.12 Appendix. Troubleshooting Guide ...........................................................417
5.12.1 Application Recovery Mode Screen............................................................................417

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5.12.2 Series Compatibility Error Screen .............................................................................419
5.12.3 Releasing Stop due to Space Limit and Zone Violations ...............................................422
5.13 Appendix. Smart Pendant (A Series) ........................................................424
5.13.1 Functions of Smart Pendant .....................................................................................424
5.13.2 Smart Pendant Robot LED Color................................................................................425
5.14 Appendix. DART Platform Installation Requirement (minimum,
recommended) ......................................................................................425
5.15 Appendix. Welding Work Overview ..........................................................426
5.15.1 EtherNet/IP Interface Welding Machine Connection Example.......................................426
5.15.2 Flow of Welding Work Utilizing Doosan Robots ...........................................................426

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 Preface

1 Preface
Thank you for choosing this Doosan Robotics product. Before installing the product, please read through this
manual and follow the instructions for each installation process provided in this manual. The contents of this
manual are current as of the date this manual was written, and product-related information may be modified
without prior notification to the user.

1.1 Copyright
The copyright and intellectual property rights of the contents of this manual are held by Doosan Robotics. It is
therefore prohibited to use, copy, or distribute the contents without written approval from Doosan Robotics. In
the event of abuse or modification of the patent rights, the user will be solely responsible for the consequences.

While the information in this manual is reliable, Doosan Robotics is not responsible for any damage that occurs
due to errors or typos. The contents of this manual may be modified according to product improvement
without prior notification.

For details of updated manuals, refer to the robot LAB website (https://robotlab.doosanrobotics.com/).

© 2022 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 about the free/open source software license can be found on the OSS use page on the Doosan Robotics
website (www.doosanrobotics.com/kr/oss/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

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 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 and
performance improvements.

2.1 Manual Indication Conventions

To communicate safety precautions related to the use of the product, the following symbols are indicated in
this manual.

Symbol Name Description

Danger Failure to observe instructions with this symbol may result in

 Danger serious accidents that could result in death or serious injury
to the operator.

Warning Failure to observe instructions with this symbol may result in

 Warning serious accidents that could result in death or serious injury
to the operator.

Caution Failure to observe instructions with this symbol may result in

 Caution product damage or cause injury to the operator.

Note This is additional information to help the user.

 Note

2.2 Safety Symbols

Among the symbols used in this manual, symbols related to user safety are as follows:

Symbol Description

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

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 PART 1. Safety Manual

Symbol Description

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

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

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

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

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

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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 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 and
robot during installation.
• Never operate a damaged robot.
• Make sure to connect safety protection equipment with a safety interface. If such equipment is
connected 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 operation
in collaborative spaces.
• If the robot axis must be rotated when the robot is not operated, it can be rotated at a torque
greater 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 1
hour 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 to
unauthorized modification.
• Do not enter the robot’s operation area or touch the robot when it is operating. This may lead
to 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.
• 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 the
robot.
• 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.
• Before performing direct teaching, make sure accurate inputs (tool length, weight, center of
gravity) are made. If inputs are different from the tool specification, direct teaching error or
malfunctioning can occur.

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 PART 1. Safety Manual

• 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 stop
function activates.
• Enable/disable the direct teaching function when the robot has completely stopped. If the
direct 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 lead
to 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 the
higher level.
• If a machine that can cause damage to the robot is integrated, it is recommended to
individually 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 by
attaching 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.

• Use in an environment with potential explosions

• Use in application related to medicine and human lives
• Use in transporting humans and animals

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 PART 1. Safety Manual

• 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 to
the 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 install
and operate the robot according to ISO12100 and ISO10218-2. In addition, the administrator can refer to the
technical 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 are
parts 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 through
the 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 the
following 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 a
collision between the robot and a worker occurs
• Joint position and TCP limitation: Limits robot movement to prevent moving towards specific body parts
of users such as the neck or head
• 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

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Applying appropriate safety settings is considered to be the same as fixing the robot to a specific location and
connecting 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 State

The operation modes of the robot consist of Manual Mode, where the user controls the robot directly, and Auto
mode, 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 a
button related to an action is pressed, and releasing the button results in stopping the corresponding action.

• In Manual Mode, the TCP movement speed is limited to less than 250 mm/s according to the Robot Safety
Regulations.
Howerver, during Handguiding, the TCP speed and joint speed are limited to less than the thresholds of
Reduced status set in WCM > Robot > Robot Limits

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 PART 1. Safety Manual

• If risk assessment results indicate that a 3-position Enable Switch is necessary, the 3-position Enable
Switch can be connected through the I/O by the setting in the WCM > Robot > Safety I/O. In this case, the
Enable Switch must be placed in the center-enable position to to allow robot operation in Manual Mode
and Servo On.

In Manual Mode, it is possible to configure robot peripherals in the Workcell Manager or to program robot tasks
in Task Builder and Task Writer, 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 the
programmed task or predefined sequence with a simple operation command and without additional user input.

Task Builder or Task Writer can verify the programed task in virtual mode, execute it in actual operation, and
perform robot tool weight and auto 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 through the I/O by the setting in the WCM > Robot > Safety I/O. In this case, the
Enable Switch must be placed in the center-enable position to allow Play or Start, Resume and Servo On in
Automatic Mode.

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 at
which you can push robot by hand without drive power.

2.8.4 Status and Flange LED Color for Each Mode

Manual Mode
M State Description Flange and/or Base
o LED
d
e

M Manual • This is the default status of teaching. Blue

a Standb • Workcell Manager, Task Builder and Task Writer can be used
n y to configure the work condition or perform task programming.
u • It monitors the stop status with Safe Operating Stop (SOS).
a
l
Man • The jog function is used to operate the robot. Blue Blinking
ual
Jog
ging

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M State Description Flange and/or Base

o LED
d
e

Man • The robot can be operated manually during teaching. Cyan Blinking
ual
Han
dgui
ding

Recove • Recovery in progress. Yellow Blinking

ry • All safety functions except for axis and TCP speed monitoring
Standb are disabled during recovery.
y • It monitors the stop status with Safe Operating Stop (SOS).

Rec • The jogs of each axis can be used to correct the exceeded safety Yellow Blinking
over threshold.
y
Jog
ging

Rec • The robot can be moved directly by hand to correct the Yellow Blinking
over exceeded safety threshold.
y
Han
dgui
ding

Interru • The system is in a protective stop state due to protective stop Yellow
pted input, exceeding the safety threshold, etc.
• It monitors the stop status with Safe Operating Stop (SOS).
• A yellow Protective stop pop-up will appear. After removing the
cause of the protective stop, if you press the Reset button, the
robot state will be converted to Manual Standby state and the
pop-up will disappear.
• If it is not possible to release the safety limit exceeding without
moving the robot, press the Recovery button to enter the safety
recovery mode, and after moving the robot, Interrupted can be
released.
• If it is impossible to release the protective stop input from the
Protective Device, press the Safety I/O button to cancel the
protective stop input setting.

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M State Description Flange and/or Base

o LED
d
e

Servo • The servo is off due to emergency, protective stop input, stop or
LED Off (A-Series)
Off exceeded safety threshold.
• It is identical to Safe Torque Off (STO).
• Servo On is possible only when all causes of emergency stop or
protective stop are removed.
• If it is not possible to release the safety limit exceeding without
moving the robot, it can be released by moving the robot after
Servo On in the safety recovery mode screen.
• If it is impossible to release the protective stop input from the
Protective Device, cancel the protective stop input setting in the
Safety I/O setup menu.

Auto Mode
M State Description Flange and/or Base
o LED
d
e

A Auto • The Teach Pendant UI is in the actual mode execution screen in a White/Green
u Standb single work space.
t y • Pressing the "Execute" button will execute the task program.
o • White is displayed for a Standalone Zone, green is displayed for a
Collaborative Zone..

Aut • The task program is being executed. White Blinking /

o • White is displayed for a Standalone Zone, green is displayed for a
Green Blinking / ss
Collaborative Zone., and white and yellow are displayed by turns
Run
for a High Priority Zone White and yellow
ning
Flashing alternately

HGC • The Handguiding command is executed during task program Cyan

execution.
(Hand
• The system waits until the user presses the "Handguiding"
Guide
button.
Control
• It monitors the stop status with Safe Operating Stop (SOS).
)
Standb
y

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M State Description Flange and/or Base

o LED
d
e

HGC • The robot pose can be changed by pressing the "Handguiding" Cyan Blinking
Run button.
ning • After the robot stops, enter HGC End & Resume signal through
the Safety IO to set Auto Running and then continue executing
the task program.

Auto- • The weight and center of gravity point of the end effector are Yellow Blinking
measur measured automatically. Please note that the safety monitoring
e functions of the robot are disabled during auto-measuring.

Interru • The system is in a protective stop state due to protective stop Yellow
pted input, exceeding the safety threshold, etc.
• It monitors the stop status with Safe Operating Stop (SOS).
• A yellow Protective stop pop-up will appear. After removing the
cause of the protective stop, if you press the Reset button, the
robot state will be converted to Manual Standby state and the
pop-up will disappear.
• If it is not possible to release the safety limit exceeding without
moving the robot, press the Recovery button to enter the safety
recovery mode, and after moving the robot, Interrupted can be
released.
• If it is impossible to release the protective stop input from the
Protective Device, press the Safety I/O button to cancel the
protective stop input setting.

Servo • The servo is off due to emergency, protective stop input, stop or
LED Off (A-Series)
Off exceeded safety threshold.
• It is identical to Safe Torque Off (STO).
• Servo On is possible only when all causes of emergency stop or
protective stop are removed.
• If it is not possible to release the safety limit exceeding without
moving the robot, it can be released by moving the robot after
Servo On in the safety recovery mode screen.
• If it is impossible to release the protective stop input from the
Protective Device, cancel the protective stop input setting in the
Safety I/O setup menu.

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Other Mode
Mode State Description Flange and/or Base
LED

- Backdrive Hold • All brakes of 6 joints are engaged, and Yellow Blinking
Backdrive motion is locked.

Backdrive Release • Break of one or more joint(s) is released Yellow Blinking

due to the selection of brake release.
• The brake(s) will not lock by itself. Use
caution as the robot and/or end-effector
may fall unless all brakes are engaged
again.

Backdrive • The servo is off due to emergency stop or

LED Off (A-Series)
exceeded joint speed threshold during
Servo Off
Backdrive Motion.
• It is identical to Safe Torque Off (STO).

Initializing • The controller is booting and the robot is Red Blinking

initialized.

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 through
Doosan 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 the
conditions 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 (hereinafter
referred 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 the
Customer'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 such
as damage to other equipment, and any or all deliberate, special or consequential losses that occur due to
defects 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 the
following 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 unauthorized
individuals
• 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 have
any 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 uses
by 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 through
a 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 this
warranty 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 other
machines and safety/protection equipment.

3 mailto:marketing.robotics@doosan.com

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 PART 1. Safety Manual

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 this
manual 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, such
as 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 the
safety 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 the
moment the above error or violation occurs, refer to Stop Distance and Stop Time(p. 57). 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 the
robot 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 the
robot. (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. 27)detects
limit violation or when a stop signal is received from the dedicated input terminal ofSafety-rated Stop
Subfunction(p. 23).

 Note
• 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) defined by IEC 62061

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 PART 1. Safety Manual

• Stop Category: The category of stop functions defined by IEC 60204-1

Safety Description PFHd PL, SIL

Function

1 STO It is the safety stop function corresponding to Stop PL e

2.64E-8
Category 0, and it immediately cuts motor power to all Cat. 4
(Safe Torque
joint modules. /h
Off) SIL 3
WIth motor power down, the axis will continue to rotate
&
due to inertia, so the brakes must be operated
SBC simultaneously to stop with frictional force of the brake.
(Safe Brake • As the motor power is cut off, the robot can be
Control) operated after releasing the stop function and
setting the Servo On.
• For more information about servo on methods,
refer to Servo On(p. 273).
• The robot brake is used for maintaining the
current pose when driving force is lost (i.e., power
off, etc.) not for deceleration. Frequently using
STO can result in brake wear or decelerator
durability loss, so it is recommended to use SS1
unless necessary.

2 SS1 It is the safety stop function corresponding to Stop PL d

3.90E-7
Category 1, and it decelerates all joints as much as Cat. 3
(Safe Stop 1)
possible to stop them, cuts the motor power off and /h
SIL 2
activates the brake to maintain the stopped state.
• If deceleration is not sufficient during stopping,
the method is set to STO stop.
• Power is cut off after deceleration, and like STO,
the robot can be operated after releasing the stop
function and setting the Servo On.
• For more information about Servo On methods,
refer to Servo On(p. 273).

3 SS2 It is the safety stop function corresponding to Stop PL d

3.90E-7
Category 2, and it decelerates all joints as much as Cat. 3
(Safe Stop 2)
possible to stop them, and SOS stopped state monitoring /h
SIL 2
function is engaged.
• If deceleration is not sufficient during stopping,
the method is set to STO stop.
• All joints are stopped with maximum deceleration
by a Stop Mode corresponding to Stop Category 2,
and SOS (Safe Operating Stop) is engaged.

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 PART 1. Safety Manual

Safety Description PFHd PL, SIL

Function

4 Reflex Stop It is the safety stop function corresponding to Stop PL d

3.90E-7
Category 2, and it utilizes Floating Reaction ( a function Cat. 3
(RS1)
to comply with the external force for a moment after the /h
SIL 2
collision is detected) to respond to external force, and
Safe Operating Stop (SOS) is engaged.
• 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

Safety Safety Function Trigger Intended Action PFHd PL,
Function Condition SIL
Intended Result
Triggering Event

1 Emergency If the Emergency Stop Emergency Stop is PL e

2.6E-8
Stop switch connected to the engaged according to the Cat.
TBSFT EM terminal is configured Safety Stop /h 4
pressed Mode.
SIL 3
If the Emergency Stop • STO or SS1
switch of the teach pendant
is pressed
If the Emergency Stop
switch of the smart
pendant is pressed
If the Emergency Stop
button is pressed

2 Protective If the protective device Emergency Stop is PL d

3.90E-7
Stop connected to the TBSFT PR engaged according to the Cat.
terminal is activated configured Safety Stop /h 3
Mode.
SIL 2
• STO, SS1, or SS2

 How to restart work after protective stop

• If the robot tool center point (TCP) is within the Collaborative Zone and if the Nudge function
is enabled, the user can apply force to the robot directly (Nudge) to restart work. For more
information, refer to Collaborative Zone Settings(p. 304) and Nudge Setting(p. 40).

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 PART 1. Safety Manual

Emergency Stop
The user can make use of the emergency stop button to stop the system in emergency situations. In emergency
situations, press the Emergency Stop button or the Emergency Stop located on the top right of the teach
pendant or smart pendant to immediately stop the system.

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 PART 1. Safety Manual

 Note
• The Emergency Stop function must be used as complementary protective measure, not as a
safeguarding measure.
• SS1 (Safe Stop 1) is set as the default mode for the Safety Stop Mode of Emergency Stop.
• When a robot application risk assessment result is needed, you can install additional
Emergency Stop buttons.
• The Emergency Stop button must comply with IEC 60947-5-5.
• If an Emergency Stop occurred through the Emergency Stop button connected to the Safety I/O
port, the button capable of accessing 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. 213) and Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)(p. 216).

2.10.3 Safety-rated Monitoring Function

Doosan Robotics provides safety-rated monitoring function which can be used as a risk reduction measure for
risk assessments. The limit of each monitoring function can be configured through Workcell Manager > Robot
> Robot Limits of the Teach Pendent UI.

 Note
• Safety limits is the condition where the safety-rated monitoring function triggers the stop
function. When stop is completed, the position of the robot and force applied externally may
differ from the configured safety limit.
• PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous failures of
safety-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

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 PART 1. Safety Manual

Safety Safety Function Trigger Intended Action PFHd PL,

Function Condition SIL
Intended Result
Triggering Event

1 SOS The current position is STO PL

3.90E-7
maintained with power d
(Safe
supplied to the motor and /h Ca
Operating
the brake disengaged t. 3
Stop)
(Servo ON state).
SIL
If the angle of one axis 2
exceeds a certain angle
when stopped

2 SLP Joint If any of the axis angles Emergency Stop is engaged PL

3.90E-7
Angle Limit exceed the configured according to the configured d
limit Safety Stop Mode. /h Ca
SLP (Joint
t. 3
Angle Limit) • STO, SS1, or SS2
SIL
2

3 SLS Joint If any of the axis speeds Emergency Stop is engaged PL

3.90E-7
Speed Limit exceed the configured according to the configured d
limit Safety Stop Mode. /h Ca
SLS (Joint
t. 3
Speed Limit) • STO, SS1, or SS2
SIL
2

4 SLT Joint If the torque applied to Emergency Stop is engaged PL

3.92E-7
Torque Limit each axis exceeds the according to the configured d
predefined limit safety stop mode. /h Ca
SLT (Joint
t. 3
Torque Limit) • STO
SIL
2

5 Collision If any of the torques Emergency Stop is engaged PL

3.92E-7
Detection applied to each axis according to the configured d
exceed the limit for Safety Stop Mode. /h Ca
Collision
configured collision t. 3
Detection • STO, SS1, SS2, or
detection sensitivity
RS1 SIL
2
• Stop Mode for
Collaborative
Zoneand
Standalone Zone
can be set
individually.

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Safety Safety Function Trigger Intended Action PFHd PL,

Function Condition SIL
Intended Result
Triggering Event

6 TCP/Robot If the TCP or robot Emergency Stop is engaged PL

3.90E-7
Position Limit (including Tool Shape) according to the configured d
exceeds or violates the Safety Stop Mode. /h Ca
TCP/Robot
configured range of the t. 3
Position Limit • STO, SS1, or SS2
space limit
SIL
2

7 TCP If the difference between Emergency Stop is engaged PL

3.90E-7
Orientation the set direction and the according to the configured d
Limit TCP direction within Tool Safety Stop Mode. /h Ca
Orientation Limit Zone t. 3
TCP • STO, SS1, or SS2
exceeds the configured
Orientation SIL
limit
Limit 2

8 TCP Speed If the TCP speed exceeds Emergency Stop is engaged PL

3.90E-7
Limit the configured limit according to the configured d
Safety Stop Mode. /h Ca
TCP Speed
t. 3
Limit • STO, SS1, or SS2
SIL
2

9 TCP Force If the external force Emergency Stop is engaged PL

3.92E-7
Limit applied to the TCP according to the configured d
exceeds the configured Safety Stop Mode. /h Ca
TCP Force
limit t. 3
Limit • STO, SS1, SS2, or
RS1 SIL
2
• Stop Mode for
Collaborative
Zoneand
Standalone Zone
can be set
individually.

10 Robot If the momentum of the Emergency Stop is engaged PL

3.90E-7
Momentum robot exceeds the according to the configured d
Limit configured limit Safety Stop Mode. /h Ca
t. 3
Robot • STO, SS1, or SS2
Momentum SIL
Limit 2

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Safety Safety Function Trigger Intended Action PFHd PL,

Function Condition SIL
Intended Result
Triggering Event

11 Robot Power If the mechanical power Emergency Stop is engaged PL

3.90E-7
Limit of the robot exceeds the according to the configured d
configured limit Safety Stop Mode. /h Ca
Robot Power
t. 3
Limit • STO, SS1, or SS2
SIL
2

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 is
provided that outputs the robot mode and status information as well as whether the TCP is inside various types
of safe areas.

 Note
• PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous failures of
safety-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

Safet Description PFHd PL,

y SIL
Func
tion

1 Safet A duplexed interface for safety related signal input and output PL d
2.50E-8
y IO Cat. 3
If the input signals do not match or if duplexed output signal
/h
feedbacks do not match, it stops the robot and displays an error SIL 2
message.

It is the safety-rated input and output, and it offers following functions: For more information, refer to Safety I/
O(p. 35).

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Safety Input Safety Output

Emergency Stop (L), Emergency Stop - No Emergency Stop (L), Emergency Stop - excl. No
Loopback (L), Loopback Input (L),
Protective Stop (L), Protective Stop - STO Safe Torque Off (L), Safe Operating Stop (L), Abnormal
(L), Protective Stop - SS1 (L), Protective Stop - SS2 (L), Normal Speed (L), Reduced Speed (L),
(L),
Auto Mode (L), Manaul Mode (L), Remote Control Mode
Protective Stop (L) - Auto Reset & Resume (L), Standalone Zone (L), Collaborative Zone (L)
(R), Interlock Reset (R), Reduced Speed
High Priority Zone (L), Tool Orientation Limit Zone
Activation(L),
(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

Classificat Safety Settings Description
ion

1 Basic/ World A coordinate system representing the robot and workpiece can be set.
Universal Coordinates
Settings Setting(p. 290)

Robot Limits The universal safety limit for joints and robot/TCP safety-rated
Setting(p. 293) monitoring functions can be set.

Safety I/O Configurable digital I/O ports can be set as safety signal I/Os.
Setting(p. 298)

Safety Stop The Stop Mode can be set when the Emergency Stop or Protective Stop is
Modes(p. 39) activated, or when the safety-rated monitoring function detects limit
violation.

Nudge Parameters related to the nudge function, which is capable of resetting

Setting(p. 40) Protective Stop or resuming auto operation of the robot can be set when
specific conditional are met.

2 Tool and Tool Weight The workpiece payload, which acts as the basis for control and safety
Robot Setting(p. 288) functions, can be set.
Pose
Tool Shape Robot tool shapes, which are used in space limit and self-collision
Setting(p. 289) prevention functions, can be set.

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Classificat Safety Settings Description

ion

Robot The robot installation pose can be set.

Installation
Pose
Setting(p. 286)

3 Space Space Limit The robot/TCP position limit function can be activated.
Limit Settings(p. 303)

4 Zone Collaborative It is the zone which can be set for collaborative work between robot and
Zone operator.
Settings(p. 304)
• Nudge or hand guiding control (HGC) functions can only be
performed in the Collaborative Zone.
• The task speed and joint speed can be decelerated automatically
by 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 as
Standalone Zone of the robot.

Crushing The robot work position and space around obstacles can be set to reduce
Prevention the risk of limbs jamming between robots and obstacles.
Zone
• The robot TCP speed, collision sensitivity and safety stop mode
Settings(p. 305)
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.

Collision Just like the case where force must be applied via contact with the
Sensitivity workpiece, collision detection and TCP force limit safety functions can be
Reduction Zone disabled (Muting) or can be used to ease off the limit.
Settings(p. 305)
• 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.

Tool This can be used to reduce risks related to the direction of the workpiece
Orientation or tool of the robot.
Limit Zone
• If the tool center point (TCP) is positioned within the Zone, the
Settings(p. 306)
TCP Orientation Limit safety function is activated.

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Classificat Safety Settings Description

ion

Custom Zone Safety limits can be used differently by zones depending on the necessity
Settings(p. 307) of robot application.
• 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 Mode
and Reduced Mode.

If each robot parameter exceeds the configured safety limit, the robot activates Protective Stop. Robot limits
can be set through Workcell Manager > 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 safety
functions.

 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 and
force applied externally may differ from the configured safety limit.

TCP/Robot
It limits various physical parameters related to the TCP/robot. This safety function can be used in power and
force limit operation modes.

• TCP Force: It sets the force limit applied from the TCP of the robot end. It can be used for purposes of
detecting 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.

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• Momentum: It sets the robot momentum limit. Momentum is proportionate to speed and weight, and the
impact is the same as the physical amount.
• Collision Sensitivity: It sets the sensitivity of the collision detection function which determines whether to
continue work or activate Protective Stop with the torque detected in each robot axis. If the sensitivity is
100%, it detects collisions by external forces very sensitively, and it seldom detects collision if the
sensitivity is 1%.

 Note
If 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 as
a 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, the
joint angle limit can be modified to allow a wider operating range.

 Note
Adding 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.
• Collaborative Zone Settings(p. 304)
• Crushing Prevention Zone Settings(p. 305)
• Collision Sensitivity Reduction Zone Settings(p. 305)
• Tool Orientation Limit Zone Settings(p. 306)

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• Custom Zone Settings(p. 307)

2.11.2 Safety I/O

This function inputs/outputs safety-related signals through a redundant terminal. If a signal that is different
from the redundant safety input or output signal is detected, the system determines whether it is a short circuit
or hardware defect and stops the robot with STO Stop Mode. To set the Safety I/O, go to the Robot Workcell and
select Robot > Safety I/O.

• Safety Input Setting

Signal Name Description

Emergency Stop (L) It is an interface to receive emergency stop signal from peripheral device, or
connect additional emergency stop switches.
• High: Normal operation
• Low: It stops the robot according to the stop mode setting for
Emergency Stop at the Safety Stop Mode.

Emergency Stop – No It is an interface to receive emergency stop signal from peripheral device, or
Loopback (L) connect additional emergency stop switches. This signal doesn’t activate
‘Emergency Stop – excl. No Loopback Input’ safety outp
• High: Normal operation
• Low: It stops the robot according to the stop mode setting for
Emergency Stop at the Safety Stop Mode.

Protective Stop (L) It can be linked with Safeguarding Devices such as safety matts, light curtains
and laser scanners.
• High: Normal operation
• Low: It stops the robot according to the stop mode setting for
Protective Stop at the Safety Stop Mode.

Protective Stop – STO (L) • High: Normal operation

• Low: Immediately cuts the motor power and engages the brakes to
force the robot to stop.

Protective Stop – SS1 (L) • High: Normal operation

• Low: Cuts off the motor power and engages the brakes after controlled
stop.

Protective Stop – SS2 (L) • High: Normal operation

• Low: Position is maintained with power supplied to the motor and the
brake disengaged after controlled stop.

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Signal Name Description

Protective Stop(L) - Auto Unlike the other Protective Stop, Interrupted state can be reset and automatic
Reset & Resume (R) operation can be resumed automatically by this signal. This enables automatic
restart after Safety-rated Monitored Stop described in ISO TS 15066.
• Low: Follow Protective Stop – SS2.
• Rising (Low to High): the task resumes automatically without manual
reset or resume.

 Warning
Resuming automatic operation without manual intervention can be
dangerous,
DO conduct a comprehensive risk assessment to confirm that using
this signal is safe

Interlock Reset (R) It is used to reset the Interrupted state by Protective Stop
• Rising(Low to High): Reset the restart interlock and permit return to
normal standby state

Reduced Speed • High: Operates the robot at the normal speed set in the task
Activation (L) • 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 slide bar. If a signal is detected within a
Collaborative Zone, the robot is operated at the smaller speed
reduction ratio (slower) between the main speed reduction ratio and the
Collaborative Zone speed reduction ratio.

3 Pos Enable Switch (H) This is operation permission equipment that is used to connect a three-position
enabling switch.
• High: Jog/Servo On are available in Manual Mode
Play/Resume/Servo On are available in Auto Mode
• Low: Jog/Servo On are prohibited in Manual Mode
Play/Resume/Servo On are prohibited in Auto Mode

Handguiding Enable It is an operation permission signal used to connect a hand guide switch.
Switch (H)
• High: Hand-guiding available
• Low: Hand-guiding unavailable

HGC End & Resume (R) It is used to resume task program execution after operator’s HandGuiding
Control(HGC) in Auto Mode
• Rising(Low to High): Resumes task program after the handguiding
control.

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Signal Name Description

Safety Zone Dynamic It is available that activating/deactivating Space Limit and/or Zone
Enable (H) dynamically.
• High: Activates the Space Limit or Zone set to be temporarily enabled
or disabled by this signal
• Low: Deactivates the Space Limit or Zone set to be temporarily enabled
or disabled by this signal

Safety Zone Dynamic It is available that activating/deactivating Space Limit and/or Zone
Enable (L) dynamically.
• High: Deactivates the Space Limit or Zone set to be temporarily
enabled or disabled by this signal
• Low: Activates the Space Limit or Zone set to be temporarily enabled or
disabled by this signal

Remote Control Enable Used to enable the Remote Control Mode.

(L)
• High: Remote Control Mode enabled.
• Low: Remote Control Mode disabled.

• Safety Output Setting

Signal Name Description

Emergency Stop It is used to notify that emergency stop is required to peripheral devices, such
situation as
(L)
- Emergency Stop Button is pushed on robot accessories (Teach pendant, Smart
Pendant, Emergency Button Box)
- Emergency Stop from the dedicated Safety Input
- Emergency Stop (L) from the configurable Safety Input
- Emergency Stop – No Loopback(L) from the configurable Safety Input.
• High: Normal operation
• Low: Emergency stop required

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Signal Name Description

Emergency Stop – excl. It is used to notify that emergency stop is required to peripheral devices, such
No Loopback Input (L) situation as
- Emergency Stop Button is pushed on robot accessories (Teach pendant, Smart
Pendant, Emergency Button Box)
- Emergency Stop from the dedicated Safety Input
- Emergency Stop (L) from the configurable Safety Input
The case of Emergency Stop – No Loopback(L) from the configurable Safety
Input is EXCLUDED.
Deadlocks can be avoided by not sending back the emergency stop signal to the
peripheral device that originally sending emergency stop signal to robot.
• High: Normal operation
• Low: Emergency stop required

Safe Torque Off (L) • High: Robot is not in Servo Off, Emergency Stop state
• Low: Robot is in Servo Off or Emergency Stop state

Safe Operating Stop (L) • High: Robot is not in Standby state

• Low: Robot is in Standby state, and standstill monitoring is activated.

Abnormal (L) • High: Robot is not in Interrupted, Recovery, Auto Measure state
• Low: Robot is in Interrupted, Recovery, or Auto Measure state

Normal Speed (L) • High: Robot is operating at the reduced speed due to external Reduced
Speed Activation safety input
• Low: Robot is operating as normal speed

Reduced Speed (L) • High: Robot is operating as normal speed

• Low: Robot is operating at the reduced speed due to external Reduced
Speed Activation safety input

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

• Low: The robot is in Auto Mode

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

• Low: The robot is in Manual Mode

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

Standalone Zone (L) • High: The robot’s TCP is in a Collaborative Zone

• Low: The robot’s TCP is not in any Collaborative Zone

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Signal Name Description

Collaborative Zone (L) • High: The robot’s TCP is not in any Collaborative Zone
• Low: The robot’s TCP is in a Collaborative Zone

High Priority Zone (L) • High: The robot’s TCP is not in any Collision Sensitivity Reduction
Zone and not in a High Priority Zone option checked Custom Zone
• Low: The robot’s TCP is in a Collision Sensitivity Reduction Zone or in
a High Priority Zone option checked Custom Zone

Tool Orientation Limit • High: The robot’s TCP is not in any Tool Orientation Limit Zone
Zone (L) • Low: The robot’s TCP is in a Tool Orientation Limit Zone

Designated Zone (L) This is used to confirm if the TCP (Tool Center Point) is inside the user-defined
Zone.
The Designated Zone signal defined on the Safety Output setting UI can be
selected from the Zone setting UI
• High: If the TCP is not inside any Zone linked with the Designated Zone
safety output
• Low: If the TCP is inside a Zone linked with the 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 the
robot.

• For more information about Stop Mode, refer to Safety-rated Stop Subfunction(p. 23).

To set the Safety Stop Modes, select Workcell Manager > Robot > Safety Stop Modes. For more information
about each item, refer to Safety-rated Monitoring Function(p. 27).

Safety Stop Mode Description

1 Emergency Stop It sets the Stop Mode when the Emergency Stop button of the teach
pendent 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.

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Safety Stop Mode Description

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 and
Standalone Zone can be set individually.In addition to STO, SS1 and
SS2 , RS1 can be set as the stop mode.

6 TCP/Robot Position Limit It sets the Stop Mode activated when the tool center point (TCP) and
Violation robot 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 It sets the Stop Mode when the tool center point (TCP) orientation
LimitViolation 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 It sets the Stop Mode when the mechanical power of the robot exceeds
Violation the set limit.

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 be
reset 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 be
entered additionally.

The configurable range of Input force for Nudge is 10.00 ~ 50.00N.

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 Warning
• Nudge must only be used only if approved through comprehensive risk assessment.
• A-Series, which does not feature a Joint Toque Sensor, does not have Nudge settings in
Advanced options.

2.11.5 Space Limit

Robot Limits(p. 33) In addition to the robot joint angle limit, it is possible to limit the robot’s operating space to
within 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 a
designated 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 the
corresponding Space Limit is not present

2.11.6 Zone
Depending on the application, it may be necessary to set a safety limit different from the global safety limit
designated by “ Robot Limits Setting(p. 293) ” in certain spaces. It is possible to set a separate safety limit only in
the designated section using the section setting function. Overridable safety limits are designated depending on
the section type.

• Collaborative Zone Settings(p. 304)

• Crushing Prevention Zone Settings(p. 305)
• Collision Sensitivity Reduction Zone Settings(p. 305)
• Tool Orientation Limit Zone Settings(p. 306)

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• Custom Zone Settings(p. 307)

By selecting the Valid Space, it is possible to select whether the Inspection Point cannot enter the designated
space or cannot leave the space.

With the Zone Margin, the expanded volume from the designated volume with specified points can be easily
configured.

Safety Limits that is overridden in Zone has the priority below.

• Safety limit overridden inside Zone has priority over the global Safety Limits
• Safety limit overridden inside High Priority Zone has priority over safety limit overridden inside Zone.
• If there are several safety limits for one type of safety function at certain TCP position because of
overlapped Zones, the most restricted safety limit has the priority.
• If there are several safety limits for one type of safety function at certain TCP position because of
overlapped High Priority Zones, the LEAST restricted safety limit has the priority.

 Warning
High Priority Zones have priority over the other Zones and global Robot Limits setting. And If multiple
High Priority Zones are overlapped, the safety function uses the LEAST restricted safety limit. For these
reasons, the size of High Priority Zone should be specified as small as possible for safety
If Dynamic Zone Enable is selected, that Zone is activated/deactivated according to the designated Safety I/O
Input signal. If the Input is active, then the corresponding Zone is activated. If the Input is not active, then the
corresponding Zone is deactivated, and Robot operates as same as without that Zone.

2.12 Other Safety Measures

The system offers Safety Recovery Mode and Backdrive Mode for user safety and robot recovery.

• Safety Recovery Mode: If there is an error with a continuing safety violation or if a robot is to be packed,
the user can use Safety Recovery Mode to configure the position and angle of the robot. For more
information about Safety Recovery Mode, refer to “Safety Recovery Mode(p. 349)”
• Backdrive Mode: The system controls the robot joint with only the brake and without power driving the
motor. This function is used when the robot cannot return to normal with Safety Recovery mode or Hand-
guiding. With Backdrive mode, the user can engage or disengage the brake of each joint. For more
information about Backdrive Mode, refer to “Backdrive Mode(p. 351)”

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

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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 right
to upgrade the product without notification. Doosan Robotics endeavors to ensure that all contents in this
manual are accurate. However, it does not assume responsibility for errors or missing information.

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2.15 Declaration and Certification

2.15.1 Europe Machinery Directive Attestation of Conformity

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2.15.2 Europe EMC Directive Attestation of Conformity

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2.15.3 U.S. NRTL Certification (U.S., CANADA)

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2.15.4 Functional Safety Certification

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2.15.5 Voluntary Safety Confirmation Declaration (KCs)

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2.16 Stop Distance and Stop Time

2.16.1 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 Declaration and
Certification(p. 44).

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.

 Note
The measurements are the result of the worst case. Measurement may vary according to circumstances

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The pose for 33%, 66%, and 100% of extension

Joint 1 Joint 2 Joint 3

100%
extension
Stop category
0

33% extension
Stop category -
1

66% extension
Stop category -
1

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Joint 1 Joint 2 Joint 3

100%
extension
Stop category
1

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

Joint 1 Joint 2

Joint1
No slip,

Joint2

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Joint 1 Joint 2

Joint3

2.16.2 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)

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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)

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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)

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M1013 Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance (rad) Stopping time (ms)

Joint 1 0.144 136

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

Stopping distance (rad) Stopping time (ms)

Joint 2 ( ) 0.15 315

Joint 3 ( ) 0.346

0.314
Distance ( )

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

Stopping distance (rad) Stopping time (ms)

Joint 2 ( ) 0.161 225

Joint 3 ( ) 0.153

0.279
Distance ( )

• The joint 2 and joint 3 angles are refer to , , in Measurement Poses and Conditions(p. 57).

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2.16.3 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)

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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)

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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%

Stopping distance(rad) Stopping time(ms)

Joint 1 0.133 92

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

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Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.171 305

Joint 3 ( ) 0.05

Distance ( ) 0.195

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

Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.034 113

Joint 3 ( ) 0.122

Distance ( ) 0.151

• The joint 2 and joint 3 angles are refer to , , in Measurement Poses and Conditions4.

2.16.4 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)

4 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675

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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)

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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)

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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%

Stopping distance(rad) Stopping time(ms)

Joint 1 0.095 89

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

Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.104 326

Joint 3 ( ) 0.336

Distance ( ) 0.26

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

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Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.079 173

Joint 3 ( ) 0.119

Distance ( ) 0.185

• The joint 2 and joint 3 angles are refer to , , in Measurement Poses and Conditions5.

2.16.5 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)

5 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675

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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)

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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)

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M1509 Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance(rad) Stopping time(ms)

Joint 1 0.138 109

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

Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.105 327

Joint 3 ( ) 0.492

Distance ( ) 0.338

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

Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.155 197

Joint 3 ( ) 0.134

Distance ( ) 0.258

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

6 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675

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2.16.6 H2017 Stop Category

H2017 Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance (rad) Stopping time (ms)

Axis 1 0.12483 98.867

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

Stopping distance (rad) Stopping time (ms)

Axis 2 0.09471 296.568

Axis 3 0.44703

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

Stopping distance (rad) Stopping time (ms)

Axis 2 0.14045 178.785

Axis 3 0.12168

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)

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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)

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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)

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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)

2.16.7 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)

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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)

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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)

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H2515 Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance (rad) Stopping time (ms)

Axis 1 0.12483 98.867

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

Stopping distance (rad) Stopping time (ms)

Axis 2 0.09471 296.568

Axis 3 0.44703

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

Stopping distance (rad) Stopping time (ms)

Axis 2 0.14045 178.785

Axis 3 0.12168

2.16.8 A0509(S) Stop Category

A0509(S) 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)

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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)

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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)

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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)

A0509(S) Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance(rad) Stopping time(ms)

Joint 1 0.286 166

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

Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.544 309

Joint 3 ( ) 0.0022

0.545
Distance ( )

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

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Stopping distance(rad) Stopping time(ms)

Joint 2 ( ) 0.005 92

Joint 3 ( ) 0.163

0.167
Distance ( )

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

2.16.9 A0912(S) Stop Category

A0912(S) 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

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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)

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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)

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A0912(S) Stop Category 0

Joint 1
Extension=100%, Speed=100%, Payload=100%

Stopping distance (rad) Stopping time (ms)

Joint 1 0.4559 253

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

Stopping distance (rad) Stopping time (ms)

Joint 2 ( ) 0.950 412

Joint 3 ( ) 0.001

0.950
Distance ( )

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

Stopping distance (rad) Stopping time (ms)

Joint 2 ( ) 0.018 187

Joint 3 ( ) 0.318

0.329
Distance ( )

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

8 http://manual.doosanrobotics.com/pages/viewpage.action?pageId=8430675

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2.17 Upper/Lower Threshold Range and Default Value of Safety

Parameters

2.17.1 A0509, A0509S

Parameters Normal Reduced Toler
ance
(+/-)
Min Max Default Min Max Default

Joint Angle J1 (degree) -360 360 -360~360 -360 360 -360~360 3/-3
Limits
J2 (degree) -360 360 -95~95 -360 360 -95~95 3/-3

J3 (degree) -160 160 -135~135 -160 160 -135~135 3/-3

J4 (degree) -360 360 -360~360 -360 360 -360~360 3/-3

J5 (degree) -360 360 -135~135 -360 360 -135~135 3/-3

J6 (degree) -360 360 -360~360 -360 360 -360~360 3/-3

Joint Speed J1 (degree/s) 0 180 180 0 180 180 10

Limits
J2 (degree/s) 0 180 180 0 180 180 10

J3 (degree/s) 0 180 180 0 180 180 10

J4 (degree/s) 0 360 360 0 360 360 10

J5 (degree/s) 0 360 360 0 360 360 10

J6 (degree/s) 0 360 360 0 360 360 10

Robot/TCP Force (N) 0 450 200 0 450 100 -

Limits
Power (W) 0 200 600 0 200 100 -
0 0

Speed (mm/s) 0 700 2000 0 700 1000 -

0 0

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Momentum 0 75 38 0 75 23 -
(kgm/s)

Collision 1 100 75 - - - -
Detection
Sensitivity (%)

Safety I/O Speed Reduction - - - 1 100 20 -

Ratio (%)

2.17.2 A0912, A0912S

Parameters Normal Reduced Toler
ance
(+/-)
Min Max Default Min Max Default

Joint Angle J1 (degree) -360 360 -360~360 -360 360 -360~360 3/-3
Limits
J2 (degree) -360 360 -95~95 -360 360 -95~95 3/-3

J3 (degree) -160 160 -135~135 -160 160 -135~135 3/-3

J4 (degree) -360 360 -360~360 -360 360 -360~360 3/-3

J5 (degree) -360 360 -135~135 -360 360 -135~135 3/-3

J6 (degree) -360 360 -360~360 -360 360 -360~360 3/-3

Joint Speed J1 (degree/s) 0 180 180 0 180 180 10

Limits
J2 (degree/s) 0 180 180 0 180 180 10

J3 (degree/s) 0 180 180 0 180 180 10

J4 (degree/s) 0 360 360 0 360 360 10

J5 (degree/s) 0 360 360 0 360 360 10

J6 (degree/s) 0 360 360 0 360 360 10

Robot/TCP Force (N) 0 600 300 0 600 150 -

Limits

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Power (W) 0 200 1100 0 200 180 -

0 0

Speed (mm/s) 0 800 2000 0 800 1500 -

0 0

Momentum 0 165 82 0 165 50 -

(kgm/s)

Collision 1 100 75 - - - -
Detection
Sensitivity (%)

Safety I/O Speed Reduction - - - 1 100 20 -

Ratio (%)

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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. 95) : Install the robot and connect the controller and teach pendant.
• Step 2. Tool Installation and I/O Testing(p. 107) : Install the tool and test the I/O signal.
• Step 3. Robot Operation and Setting(p. 116) : Learn how to operate the robot manually and add robot
settings and Workcell Items.
• Step 4. Create Task Program(p. 134) : Learn how to operate the robot automatically and learn about basic
motions, compliance/force control and Pick & Place skill samples.

3.1 Journey Map

The journey map lists the process from the installation of Doosan Robotics robot to actual operation in
sequential order. Refer to each guide item to begin using the robot.

3.1.1 Step 1. Robot Installation

Classificatio Work Mandatory Difficulty Time
n Work (Minutes)

1 Robot Remove packing EASY 3

Installation
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

2 Initial start Power-up controller EASY 3

Up
Disengage emergency stop button EASY 1

Disengage packaging pose EASY 3

Servo Off EASY 1

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3.1.2 Step 2. Tool Installation and I/O Testing

Classificatio Work Mandatory Difficulty Time
n Work (Minutes)

1 Tool Install tool EASY 5

Installation

2 I/O Testing Turn system power off EASY 1

Connect wires NORMAL 10

Turn system power on EASY 1

Test controller and flange I/O NORMAL 10

3.1.3 Step 3. Robot Operation and Setting

Classificatio Work Mandatory Difficulty Time
n Work (Minutes)

1 Safety Stop Learn how to engage/disengage Safety Stop EASY 5

2 Manual Learn how to perform safety recovery/ NORMAL 15

Operation powerless motion

Learn how to use jog NORMAL 15

Learn how to perform direct teach EASY 5

3 Settings Disengage the Password Lock EASY 1

4 Workcell Learn about Workcell Manager and Workcell EASY 5

Manager Item

5 Robot Set robot limits EASY 5

Settings
(Standard
Set World Coordinates OPTIONAL NORMAL 3
Workcell
Item
Settings)

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Classificatio Work Mandatory Difficulty Time

n Work (Minutes)

6 Add Workcell Add robot installation pose (Mount) OPTIONAL EASY 3

Item
Add Tool Weight EASY 5

Add Tool Shape EASY 5

Add End Effector NORMAL 10

Add Space Limit OPTIONAL NORMAL 10

3.1.4 Step 4. Create Task Program

Classification Work Mandatory Difficulty Time
Work (Minutes)

1 Task Start programming EASY 3

Programming

2 Motion Robot Understand robot motion EASY 5

Utilization
Understand robot motion properties NORMAL 15

Try MoveJ/MoveL command samples NORMAL 20

3 Compliance/ Understand Compliance/Force Control OPTIONAL HARD 15

Force Control
Utilization
Try Compliance command samples OPTIONAL NORMAL 20

Try Force command samples OPTIONAL NORMAL 20

4 Use skills Try Pick & Place samples OPTIONAL NORMAL 20

5 Miscellaneou Utilize Sub/Call Sub OPTIONAL NORMAL 5

s Functions
Utilize debugging OPTIONAL NORMAL 5

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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. 191) and
Installation Environment(p. 192).
• For more information about robot installation, refer to PART 3. Installation Manual(p. 173).

3.2.1 Remove packing

MANDATORY EASY 3 MIN

#Youtube_clip9 #Youtube_link10

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. 173).

1. The manipulator is contained in the larger box.

2. The controller and teach pendant are contained in the smaller box.

9 https://www.youtube.com/embed/4e7yA9OHluk?version=3&loop=0&playlist=4e7yA9OHluk&start=7&end=25&rel=0
10 https://www.youtube.com/watch?v=4e7yA9OHluk

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 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 to
falling.

3.2.2 Connect cable to the controller

MANDATORY EASY 1 MIN

#Youtube_clip11 #Youtube_link12

11 https://www.youtube.com/embed/4e7yA9OHluk?version=3&loop=0&playlist=4e7yA9OHluk&start=20&end=28&rel=0
12 https://www.youtube.com/watch?v=4e7yA9OHluk

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In case of the A Series, connect the emergency stop button cable or smart pendant (optional). Connect the
teach pendant (optional) and robot cables to the controller.

1. Connect the emergency stop button cable or smart pendant (optional) cable to the corresponding
controller connector and engage the screw lock by turning it clockwise to prevent the cable from
becoming loose.
2. Push the teach pendant (optional) cable into the corresponding controller connector until a click is heard.
This will prevent the cable from becoming loose.
3. Push the robot cable’s opposite end into the corresponding controller connector until a click is heard to
prevent the cable from becoming loose.

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 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 the Manipulator and Controller(p. 196)
• Connecting the Controller and Teach Pendant(p. 200)
• Connecting the Controller, and Smart Pendant(p. 199)

3.2.3 Secure the robot base

MANDATORY EASY 3 MIN

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#Youtube_clip13 #Youtube_link14

When securing the robot base and when installing a tool on the tool flange, the following additional
components are required:

• M8 hexagonal wrench bolt: 4EA

• Φ5 place marker pin 2EA

Use M8 in the four holes in the robot base to secure the robot. For more information, refer to Securing the
Robot(p. 193).

• It is recommended to use a tightening torque of 20 Nm to tighten the bolts. Use washers (spring-flat) to
prevent loosening by vibration.
• Use two Φ5 place marker pins to accurately install the robot in a fixed location.

3.2.4 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 ground
connection).
• Establish a common ground for all equipment in the system with unused bolts related to the ground
symbol inside the controller. The ground conductor must satisfy the maximum current rating of the
system.
• For more information, refer to Supplying Power to the Controller(p. 203).

13 https://www.youtube.com/embed/4e7yA9OHluk?version=3&loop=0&playlist=4e7yA9OHluk&start=27&end=39&rel=0
14 https://www.youtube.com/watch?v=4e7yA9OHluk

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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.

• DC Controller (CS-04)(p. 244)

3.2.5 Position controller

MANDATORY EASY 1 MIN

When installing the controller on the floor, secure at least 50 mm of space on each side of the controller to
enable ventilation.

 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. 202).

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3.2.6 Power-up controller

MANDATORY EASY 3 MIN

In case of the A Series, the system can be powered up only after the emergency stop button setting switch is
configured. For more information, refer to Emergency Stop Button Setting Switch(p. 205).

 • In case of the A Series, the teach pendant is not powered up if the emergency stop setting
switch is not configured or if the there is an emergency I/O signal input on Safety I/O .

The power switch of the controller is located at the bottom of the controller.
1. Press the power switch at the bottom of the controller. The system is powered up including robot,
controller, teach pendant and smart pendant.

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.

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3. For more information about equipment other than the teach pendant, refer to System Power On/Off(p. 257).

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

3.2.7 Disengage emergency stop button

MANDATORY EASY 1 MIN

#Youtube_clip15 #Youtube_link16

15 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=2970&end=3055&rel=0
16 https://www.youtube.com/watch?v=824KkQJGbRs

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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 the
robot.

• Twist the emergency stop button clockwise to disengage the emergency stop state.

3.2.8 Disengage packaging pose

MANDATORY EASY 3 MIN

#Youtube_clip17 #Youtube_link18

The robot is in its packaging pose to allow easy transportation or packaging. To use the robot, it is necessary to
disengage the packaging pose. As the robot maintains a pose that exceeds the Joint Angle Limit when in

17 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=3149&end=3304&rel=0
18 https://www.youtube.com/watch?v=824KkQJGbRs

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packaging pose, it is impossible to set Servo On status due to safety limit violation. The robot LED is illuminated
red in this state.

 Note
If 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:

1. Tap status on the initial screen of the teach pendant.

2. Tap the Safety Recovery button. The Safety Recovery button is enabled when in Servo Off status.

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3. Select the Packaging Mode tab.

4. Tap the Servo On button.

5. The robot status display on the bottom right of the teach pendant screen changes from Safety Off to
Recovery Standby. Tap the Packaging Mode toggle button on the Packaging Mode tab.

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6. Press and hold the Disengage Packaging Pose button. The robot’s packaging mode is disengaged, and
the robot moves to the home position. When the robot is in the home position, it does not move any
further.

7. After the robot is in the home position, tap the button on the top left of the screen.

8. The robot status display on the bottom right of the teach pendant changes from Recovery Standby to
Manual Standby. The robot is now in a state where the user can operate it. Press the Close button on
the Status screen to close the status window.

3.2.9 Servo Off

MANDATORY EASY 1 MIN

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#Youtube_clip19 #Youtube_link20

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 Servo On(p. 273).

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.

 Note

19 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=3081&end=3149&rel=0
20 https://www.youtube.com/watch?v=824KkQJGbRs

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• For more information about the tool flange, refer to Connecting the Robot and Tool(p. 195).
• 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

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#Youtube_clip21 #Youtube_link22

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 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.

21 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=02933&end=02961&rel=0
22 https://www.youtube.com/watch?v=824KkQJGbRs

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

Only when E-STOP Box is used

Open the controller door, and press and hold the power button located at the bottom right of the Safety board.

• To turn off the power, press and hold the button.

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When smart pendant (optional) is used

Press and hold the power button on the upper left of the smart pendant.

• To turn off the power, press and hold the button.

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3.3.3 Connect wires

MANDATORY NORMAL 10 MIN

#Youtube_clip23 #Youtube_link24

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. 208).

23 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=2529&end=2720&rel=0
24 https://www.youtube.com/watch?v=824KkQJGbRs

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 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.
• In case of the A Series, the 24V flange I/O power is cut off when the robot is set to Servo Off.
Therefore, make sure to configure tool or gripper measures to prevent dangerous situations
when handling the workpiece from the tool (set in Normal Close status).

 Note
To 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 Connecting Controller I/O(p. 212).
• For more information, refer to Network Connection(p. 228).

3.3.4 Turn system power on

MANDATORY EASY 1 MIN

#Youtube_clip25 #Youtube_link26

Turn the system power on again. Press and hold the power button until the teach pendant screen powers up.

25 https://www.youtube.com/embed/824KkQJGbRs?version=3&loop=0&playlist=824KkQJGbRs&start=02889&end=2931&rel=0
26 https://www.youtube.com/watch?v=824KkQJGbRs

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Only when E-STOP Box is used

Open the controller door, and press and hold the power button located at the bottom right of the Safety board.

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When smart pendant (optional) is used

Press and hold the power button on the upper left of the smart pendant.

3.3.5 Test controller and flange I/O

MANDATORY NORMAL 10 MIN

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

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/Flange Digital Input Check(p. 274)

• Controller Analog Input Check(p. 274)
• Controller/Flange Digital Output Setting(p. 275)
• Controller Analog Output Setting(p. 275)

3.4 Step 3. Robot Operation and Setting

In this step, you can learn how to operate the robot manually and how to set and add Workcell Items of the
robot.

 Caution
• Before operating the robot, make sure to read and follow General Instructions(p. 11) and
Precautions for Use(p. 13).
• For more information about using the robot safely, refer to PART 1. Safety Manual(p. 10).
• For more information about robot operation and setting, refer to PART 4. User Manual(p. 257).

 Note
Doosan Robotics robot offers the following convenience functions: These functions automatically
calculate values which the user otherwise would have to calculate and enter manually.

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1. Auto Tool Weight Measurement: The weight and center of gravity of the tool installed on the
robot end are calculated automatically through a series of robot motions
2. Auto Mount Measurement: The mount of surface on which the robot is installed is
automatically calculated through a series of robot motions
3. Auto Tool Center Point (TCP) Measurement: The position of the tool installed on the robot
end is automatically calculated

3.4.1 Learn how to engage/disengage Safety Stop

MENDATORY EASY 5 MIN

Learn the types of safety stops and how to engage/disengage safety stop.

Types of Safety Stops

#Youtube_clip27 #Youtube_link28

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 of
Protective Stop, the robot can resume operation by resolving the cause of Protective Stop and releasing the
stop.

27 https://www.youtube.com/embed/WL3c3xIZDlw?version=3&loop=0&playlist=WL3c3xIZDlw&start=2918&end=2960&rel=0
28 https://www.youtube.com/watch?v=WL3c3xIZDlw

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• 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 about the Safety Stop functions, refer to Safety Function(p. 22).

How to engage/disengage Safety Stop

#Youtube_clip29 #Youtube_link30

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 through
Workcell 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. 212).
• For more information about how to set the Safety Stop function from the program, refer to Safety I/O
Setting(p. 298).

3.4.2 Manual Operation - Learn how to perform safety recovery/powerless

motion
MANDATORY NORMAL 15 MIN

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These two recovery modes are used to move the robot to the Safety Zone in Servo Off status when the
Emergency Stop is activated or the robot does not operate properly due to collision, etc. Set Servo Off to
activate safety recovery or powerless motion mode. For more information, refer to Safety Recovery Mode(p. 349)
and Backdrive Mode(p. 351).

• Safety Recovery: It is used when modifying the robot pose in Servo Off status
• Software Safety Recovery: It is the most commonly used recovery function and is used to manually
operate and to move the robot to the Safety Zone through direct teaching or manual job operation
when the robot stopped due to safety and space zone limit violation
• Packaging Mode: It is the function only used during the initial delivery and is used to release the
robot from its packaging pose or set it to its packaging pose
• Powerless Motion: It is the function used when the robot does not operate properly or is in a dangerous
situation, which allows the robot to be moved to the Safety Zone by pushing or pulling it by hand

3.4.3 Manual Operation - Learn how to use jog

MANDATORY NORMAL 15 MIN

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The user can select a manual movement method from the Jog tab. For more information about the jog/move/
align, refer to Jog Function(p. 319).

• 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
• Align: It moves the robot end to the plane perpendicular to the user-selected plane and coordinate axis
parallel to the robot end

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

The following is the method how to move the robot using joint motion from the jog screen:

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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.

For more information about jog movement, move and align, refer to Jog Screen(p. 320), Movement Screen(p. 327)
and Align Screen(p. 331) respectively.

 Note

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• 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 the
actual mode toggle switch is turned on.

3.4.4 Manual Operation - Learn how to perform direct teaching

MANDATORY EASY 5 MIN

#Youtube_clip35 #Youtube_link36

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 like
pressing Button 1, and the robot can be moved freely.

For more information about each button function, refer to Hand-Guiding Operation(p. 339).

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 of
the conditions in the following figure: Z-axis constrained, plane fix constrained, surface constrained and
direction constrained.

3.4.5 Disengage the Password Lock

MANDATORY EASY 1 MIN

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#Youtube_clip37 #Youtube_link38

When changing various settings after robot installation, the process can be troublesome as the system
constantly requests the password to be entered.

In this case, enter the password through Setting > Safety Password. If the system requests the password when
the password is not changed, enter the following password.

• admin

Touch 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.

3.4.6 Learn about Workcell Manager and Workcell Item

MANDATORY EASY 5 MIN

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As shown in the figure above, the Workcell Manager manages robot settings, including coordinates, and safety
settings, and Workcell Items, including tools, grippers and peripherals. Tool weight, tool shape, end effector
TCP (Tool Center Point), machine and peripherals can be added to the Workcell Manager. Settings and Workcell
Items added to the Workcell Manager are used when creating a Task which refers to the work the robot
performs.

The process of creating a task and automatically operating the robot is as follows:

1. Standard Workcell Item Setting: The robot has standard Workcell Items such as robot limits and safety
settings. These Workcell Items are set to ensure the safe operation of the robot.
2. Add Workcell Item: It registers tool shape and weight information, as well as Safety Zone and Space
Limits as individual Workcell Items.
3. Add End Effector: As most robots have tools installed, it adds the I/O interface and TCP of the tool as a
single end effector Workcell Item.
4. Create Task: Standard Workcell Item setting of the Workcell Manager is applied during task creation, and
registered Workcell Items are used when necessary.
5. Play Task: It plays the task.

3.4.7 Robot Setting - Set robot limits

MANDATORY EASY 5 MIN

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#Youtube_clip39 #Youtube_link40

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 through Workcell Manager > Robot Limits.

• For more information about each limit, refer to Robot Limits(p. 33).
• For more information about setting and screen descriptions of limits, refer to Robot Limits Setting(p. 293).

3.4.8 Robot Setting - Set World Coordinates

OPTIONAL NORMAL 3 MIN

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The world coordinates of the robot can be set from World Coordinates. In case the robot coordinate is the base
coordinates, this step can be skipped.

World coordinates can be set through Workcell Manager > Robot > World Coordinates. For more information,
refer to Set World Coordinates(p. 290).

• 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.

 Note
World 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.

3.4.9 Workcell Item - Add robot installation pose (Mount)

OPTIONAL EASY 3 MIN

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The robot installation pose can be set by adding a robot installation pose (mount) Workcell Item. If the robot is
installed on a flat surface, this step can be skipped.

Robot installation pose can be set through Workcell Manager > Robot > > Robot > Mount. For more
information, refer to Robot Installation Pose Setting(p. 286).

• 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 weight
once mount setting is done.

Once the Workcell Item is registered (confirmed), the toggle switch must be enabled in order to use the Workcell
Item.

 Caution

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• 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).

3.4.10 Workcell Item - Add Tool Weight

MANDATORY EASY 5 MIN

#Youtube_clip45 #Youtube_link46

The weight of the tool installed on the flange can be set by adding a tool weight Workcell Item. Tool weight can
be set through Workcell Manager > Robot > > Robot > Tool Weight. For more information, refer to Tool
Weight Setting(p. 288).

• 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.

Once the Workcell Item is registered (confirmed), the toggle switch must be enabled in order to use the Workcell
Item. 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.

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• Set of the tool setting is the same as set of Other Commands. Set command can be used when changing
the Tool Weight while a task is being performed. For more information, refer to Task Builder
Commands(p. 360) and Task Writer Command(p. 391).

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

3.4.11 Workcell Item - Add Tool Shape

MANDATORY EASY 5 MIN

#Youtube_clip47 #Youtube_link48

The shape of the tool installed on the flange can be set by adding a tool shape Workcell Item.

Too shape can be set through Workcell Manager > Robot > > Robot > Tool Shape. For more information,
refer to Tool Shape Setting(p. 289).

• 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.

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Once the Workcell Item is registered (confirmed), the toggle switch must be enabled in order to use the Workcell
Item. The activated tool shape Workcell Item can be set as the standard tool shape by pressing the set tool icon
( ) on the top of the teach pendant.
• 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 Builder
Commands(p. 360) and Task Writer Command(p. 391).

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

3.4.12 Workcell Item - Add End Effector

MANDATORY NORMAL 10 MIN

#Youtube_clip49 #Youtube_link50

The tool I/O, communication interface, and TCP (Tool Center Point) can be registered by adding an End Effector
Workcell Item. The end effector consists of tools and grippers.

The end effector can be set through Workcell Manager > End Effector > > Gripper, Tools > ... . For more
information, refer to End Effector Setting(p. 309).

• Interface: It provides interface setting (analog/digital I/O, communication, etc.) and test functions for tools
or grippers
• TCP (Tool Center Point): TCP means the center point of the tool, and the gripper’s end point is generally
set as the TCP

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The offset values of the TCP tab can be calculated using the auto calculation function. The TCP offset can be
calculated by moving the robot with 4 poses centering the TCP.

Once the Workcell Item is registered (confirmed), the toggle switch must be enabled in order to use the Workcell
Item. The activated end effector Workcell Item can be set as the standard TCP (Tool Center Point) by pressing
the set tool icon ( ) on the top of the teach pendant.
• Set of the tool setting is the same as set of Other Commands. Set command can be used when changing
the TCP while a task is being performed. For more information, refer to Task Builder Commands(p. 360) and
Task Writer Command(p. 391).

 Note
• Up to fifty different end effectors can be registered.
• The Task Builder activates skills based on preset Workcell Items, such as end effectors and
peripherals. Processes, such as Pick & Place or Pallet Stocking, can be created conveniently
with such skills.

3.4.13 Workcell Item - Add Space Limit

OPTIONAL NORMAL 10 MIN

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#Youtube_clip51 #Youtube_link52

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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 the
robot.

Space limit can be set through Workcell Manager > > Space Limit > Cuboid, Cylinder, Multi-plane Box,
Sphere or Tilted Cube. For more information, refer to Space Limit Settings(p. 303).

• Inspection Point can be set as the robot or TCP, and the valid space can be set as interior or exterior.

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• The monitoring zone can be set as robot or TCP. It sets whether to detect the interior or exterior zone or
not.
• 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.

3.5 Step 4. Create Task Program

In this step, you can learn how to create a robot task program and how to test it.

 Caution
• Before operating the robot, make sure to read and follow General Instructions(p. 11) and
Precautions for Use(p. 13).
• For more information about using the robot safely, refer to PART 1. Safety Manual(p. 10).
• For more information about the task program, refer to PART 4. User Manual(p. 257).

3.5.1 Start programming

MANDATORY EASY 3 MIN

#Youtube_clip55 #Youtube_link56

 Caution
• Before programming, the safety setting, installation pose and tool setting must be completed
with the Workcell Manager. For more information, refer to Step 3. Robot Operation and
Setting(p. 116).

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Doosan Robotics offers two types of task programming environments.

• Task Builder: It is an icon block-based coding environment utilizing command and skill icons. Skills are
supported based on Workcell Items registered on Workcell Manager.
• Task Writer: It is a block-based coding environment utilizing script-based programming for easy input to
the teach pendant

The difference between the two programming environments is as follows: In general, novice users or users who
wish to use skills use the Task Builder. Intermediate users who do not wish to use skills use the Task Writer for
quick programming.

Classification Task Builder Task Writer

1 Subjects Novice users or users who need to use Intermediate users

skills

2 Block-based O O
coding

3 Use of command O X
icons

4 Skill support O X

5 Screen

 Note
What is Skill of Doosan Robotics robots?
• It is a command which configures interface for easy use by bundling various commands
required in a process with a single setting.
• It can only be used in the Task Builder, and each skill is displayed as a single block. For
example, the Task Builder icon blocks for Pick skill and Place skil are as follows:

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3.5.2 Understand robot motion

MANDATORY EASY 5 MIN

#Youtube_clip57 #Youtube_link58

Doosan Robotics robots offer nine motions. Robot movement is controlled by standard motions, MoveJ and
MoveL, and 7 motions derived from these two motions.

Types of Robot Motion

Motion Feature

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1 MoveJ 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

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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 MoveC Robot TCP moves to target point while maintaining an arc

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7 MoveB Robot moves to the final target point through a section consisting of continuous straight lines
and arcs

8 MoveSpi Robot moves from the spiral center to the maximum radius
ral

9 MovePer Robot moves in a path with a constant amplitude and cycle

iodic

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 and
angle) with linear motion.

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Type MoveJ MoveL

1 Move • All joints of the robot move from the • TCP on the robot end moves to the
Method current angle to the target angle and selected coordinates with linear
stop simultaneously motion

2 Advanta • Fast movement speed • As TCP path maintains a straight line,

ge • Not influenced by a robot singularity the movement path of the robot can
be estimated
• As target point is indicated using
position and rotation (X, Y, Z, A, B, C),
the approximate robot end point can
be estimated

3 Disadvan • As all axes rotate to the target angle • Motion speed is relatively slower than
tage simultaneously, movement path MoveJ
cannot be estimated • Influenced by a robot singularity
• As target angle is indicated with the
angle of each axis, it is difficult to
estimate the robot end point and
robot pose

4 Utilizatio • As it is not influenced by a robot • It is ideal in avoiding objects and fine

n singularity, it is used to avoid movement
singularities
• It is ideal in moving long distances

3.5.3 Understand robot motion properties

MANDATORY NORMAL 15 MIN

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#Youtube_clip59 #Youtube_link60

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 be
entered.

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Name Description

1 Annotatio Description or annotation of the command which can be found in the task window
n

2 Coordinat • MoveJ: None

es • MoveL: Calculates the entered pose information based on the coordinates (BASE/
WORLD/TOOL/USER)

3 Select 1. Absolute movement

move type • 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 the
current angle
• MoveL: Performs relative movement by set value based on the current point
(relative movement based on the selected coordinates)

4 Select Pose information registered as variables can be selected

variable

5 Pose Pose information is entered

informatio
• MoveJ: Angle of each axis ([J1, J2, J3, J4, J5, J6])
n
• MoveL: Position and rotation from coordinates ([X, Y, Z, A, B, C])

6 Speed 1. Global: Uses the speed designated as global in the property of MainSub
setting 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 Operation 1. Sync: The motion command in progress is done and the next command is executed
mode 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 motion
command reaches its target point

8 Blending The option used to determine whether to ignore or overwrite the preceding motion
mode according to the blending mode of the following motion when the radius is set as an option
of the preceding motion

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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.

Radius
Radius 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 the
current motion command. The radius is set to 0 mm as default.

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 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 is
already 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 the
blending mode of the following motion when the radius is set as an option of the preceding motion.

Duplicate
Duplicate is a mode that maintains the preceding motion to allow the following motion to overlap with the
preceding motion.

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Override
Override ignores and overwrites the preceding motion to execute the following motion.

3.5.4 Try the sample MoveJ/MoveL commands

MANDATORY NORMAL 20 MIN

#Youtube_clip61 #Youtube_link62

In this sample, add MoveJ and MoveL commands in the Task Builder, execute them and compare the difference
between the two motions.

61 https://www.youtube.com/embed/WL3c3xIZDlw?version=3&loop=0&playlist=WL3c3xIZDlw&start=5728&end=5823&rel=0
62 https://www.youtube.com/watch?v=WL3c3xIZDlw

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 Caution
• Before trying the sample, make sure to read and follow Precautions for Use(p. 13). For more
information, refer to PART 1. Safety Manual(p. 10).

1. Select the Task Builder from the bar at the bottom of the screen.
• The programming method in the Task Writer is almost identical to that of the Task Builder.
2. Press the Next button.
• To create a program with registered Workcell Items, such as grippers, a Workcell Item must be
added.
• In this sample, press the Next button without selecting any Workcell Items and skills.
3. Enter a task name.
4. Press the Confirm button.

5. With MainSub on the second line selected, press MoveJ to add MoveJ command to the task list.
• Command is added to the following line of the selected one.
6. Press MoveL to add MoveL command to the task list.
7. Select MoveJ on the third line of the task list.

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8. Select the Property tab at the top right. Property values of the command can be set in the Property tab.

9. Use one hand to press and hold the hand guiding button, which has a hand shape, located on the cockpit
at the top of the robot end. Step 9 to 11 saves the pose of MoveJ.
• In case of robots which cannot use a cockpit, check the “Note” below.
10. Use the other hand to push the robot to a safe location.
11. Release the hand guiding button and press the save pose button.

12. Use one hand to press and hold the hand guiding button, which has a hand shape, located on the cockpit
at the top of the robot end. Step 12 to 14 saves the pose of MoveL.
• There is no need to select MoveL of the task list. If the save pose button is pressed, the task list
automatically moves to the task line.
13. Use the other hand to push the robot to a safe location.

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14. Release the hand guiding button and press the save pose button.

15. Press the Play tab to perform the task.

16. As the task is not saved, a popup window asking to save the task is displayed. Press Save.
17. Set the real mode toggle button to disabled status (grey).
a. If the real mode is disabled, the robot does not move and only the virtual robot in the screen
simulator moves.
b. Before performing the task, it is recommended to test the task in this simulation mode.
18. Press the Play button at the bottom right.

19. An error message stating the robot is not ready is displayed. Press the X button to close the popup.

• The robot can only move in Servo On status.

• The Servo On and Servo Off of the robot can be turned on and off through Status > Servo.
20. To set the robot in ready status, the robot must be set to servo on. Select the Status on the bar at the
bottom.
21. Press the Servo On button.
22. Press the X at the top left to close the Status window.

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23. Press the Play button at the bottom right again. The robot will move successfully in the simulator.

24. Set the real mode toggle button to enable status (green) to operate the actual robot.
25. Press the Play button at the bottom right. The actual robot will successfully move.

 Note
The save pose button of the cockpit performs the following function in the same order on the teach
pendant screen.
1. Press Property > Get Pose button to load the current pose information.
2. Press the Confirm button to save changes in the command property.
3. Select the next command.

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With this, it is possible to quickly program tasks by adding multiple motion commands to the task list at
once, moving the robot while pressing the hand guiding button on the cockpit, and pressing the get pose
button.

3.5.5 Understand compliance/force control

OPTIONAL HARD 20 MIN

Force Control and Compliance Control are functions controlling robot force. These functions also control
performing motion movement and force control if a motion command is added. Compliance control and force
control have the following differences:

1. Compliance control
• The robot complies with external force at the robot end TCP during compliance control, and when
the external force is removed, a force that returns the robot to its original position is created,
causing the robot to move to the corresponding position.
• It can be used when linear motion is required on an uneven surface without damaging the robot
and surface. It can be used to prevent unexpected collisions around the workpiece.
2. Force control
• During force control, force is generated at the robot end TCP. Acceleration is generated in the
direction the force is generated, so the robot moves towards the motion direction as well as the
force direction at the same time.
• When contact is made with an object, force will be applied on the object until the set force and the
repelling force of the object form a balance.
• It can be used when equal force needs to be applied on a linear motion on an uneven surface. It can
be used in tasks which require constant force while moving, such as polishing.

 Note

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Compliance 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.
2. Fig. 2 is the operating direction when force/compliance control in the +Z direction is applied on
the tool coordinates.

Compliance Control

#Youtube_clip63 #Youtube_link64

Compliance control is the function that complies to external force according to the set stiffness when force is
applied on the robot end TCP. It balances forces at the target point, and it is a control method that generates

63 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=2300&end=2462&rel=0
64 https://www.youtube.com/watch?v=W5IPEGexfBc

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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 get
damaged.
• 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 the
collided object.

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)

 Note

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On 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
• X, Y, Z: 0~20000 N/m
• Rx, Ry, Rz: 0~400 Nm/rad
• Lower stiffness values will respond to external force more gently and will require more
time 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)

 Caution
• Tool weight and TCP (Tool Center Point) must be accurately set. Inaccurate tool weight can
cause 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.

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• 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 to
compliance of the torque generated during motion execution. Therefore, it is recommended to
turn on compliance control near the target point. Or, it is possible to minimize position error by
setting a large stiffness value.

Force Control

#Youtube_clip65 #Youtube_link66

Force Control is a function that applies force in the force control direction until the set force and repelling force
form a balance

• It moves the robot in the set force direction, and if contact with an object is made, it maintains the entered
force (N)
• It is capable of motion control in a direction different from the force direction while applying a constant
force
• The minimum setting is +/- 10N, and it can be fine-tuned with a resolution of 0.2N
• Force Control is unavailable in singularity zone
• In general, Compliance Control is used in conjunction with force control so that force control complies to
external force

65 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=2812&end=2925&rel=0
66 https://www.youtube.com/watch?v=W5IPEGexfBc

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 Note
From 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 and
Default Value of Safety Parameters(p. 89).
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 to
move 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 is
recommended to enable force control near the target point.
5. Setting Time

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• It is the time required for the current force value to reach the set force value (0-1s)

3.5.6 Try Compliance command samples

OPTIONAL NORMAL 20 MIN

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#Youtube_clip67 #Youtube_link68

This sample is created in the Task Writer. This sample can be tried almost the same way in the Task Builder.

 Caution
• Before trying the sample, make sure to read and follow Precautions for Use(p. 13). For more
information, refer to PART 1. Safety Manual(p. 10).

 Note
• If there is external torque 15Nm or higher when enabling or disabling compliance control, the
robot stops the program due to the JTS (Joint Torque Sensor) error.
• Stiffness change can be executed regardless of the external torque size.
• During compliance control, joint motions, such as MoveJ command, cannot be executed.

1. Select the Task Writer from the bottom menu.

2. Enter the task name and press the OK button.
3. Select the MainSub command from the third line of the task list. A new command is added to the next line
of the selected line.
4. Add Compliance Command. This command is planned to be used for enabling Compliance Control.
5. Add another compliance control. This command is planned to be used for disabling Compliance Control.

6. Select the Compliance Command on the fourth line. A new command is added to the next line of the
selected line.
7. Add Wait command.
8. Select the Property tab.
9. Set the wait time as the following:
• Wait Time: 100 sec

67 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=2463&end=2623&rel=0
68 https://www.youtube.com/watch?v=W5IPEGexfBc

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10. Press the Confirm button.

11. Select the Compliance Command on the sixth line.

12. Set the mode in the property as the following: Mode Off disables compliance control.
• Mode: Off
13. Press the Confirm button.
14. Select the Compliance Command on the fourth line.
15. Set the Mode in the Property as the following: Mode On enables Compliance Control.
• Mode: On
16. Set the Stiffness as the following: Lower the stiffness of X and Y direction for softer reactions in X and Y
directions.
• X: 200 N/m
• Y: 200 N/m
• Z: 3000 N/m (default)
• Rx, Ry, Rz: 200 Nm/rad (default)
17. Press the Confirm button.

18. Select the Play tab.

19. Enable the Real Mode toggle button.
• Once the toggle button becomes enabled, the button lights up green.
20. This sample will deliberately activate the Safety Stop to explain the reason to lower Collision Sensitivity
during Compliance control. The Collision Sensitivity of this sample is 95%. In cases with such high collision
sensitivity, the robot reacts to collisions very sensitively.
• Upon collision, the robot is stopped by the Safety Stop.

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21. Press the Play button.

22. Hold the robot end and slowly push it in the robot body direction. The robot stops due to collision error.
During Safety Stop due to collision, the robot LED lights up yellow.

23. Press the Program Stop button in the yellow safety stop warning window on the screen. The task program
in progress is stopped.
24. Select the Workcell Manager from the bottom menu.
25. Select Robot > Robot Limits.

26. Select the TCP/Robot tab.

27. Press the Edit button.
28. Set the Collision Sensitivity as the following:
• Normal mode: 50 %
29. Press the Draft button.

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30. Check the Confirm draft checkbox and press the Confirm button.

31. Select the Task Writer from the bottom menu.

32. Select the Saved file on the screen left.
33. Check whether the first task file name is the task name in Step 2 before selecting. The last saved task is
located on the top of the Task Writer file list.
34. Press the Open button.
35. Select the Play tab.
36. Enable the Real Mode toggle button.
37. Press the Play button.

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38. Hold the robot end and slowly push it in the robot body direction. The robot moves due to the pushing
force and returns to its original position.

3.5.7 Try force command samples

OPTIONAL NORMAL 20 MIN

#Youtube_clip69 #Youtube_link70

This sample is created in the Task Writer. This sample can be tried almost the same way in the Task Builder.

 Caution
• Before trying the sample, make sure to read and follow Precautions for Use(p. 13). For more
information, refer to PART 1. Safety Manual(p. 10).

69 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=2938&end=3105&rel=0
70 https://www.youtube.com/watch?v=W5IPEGexfBc

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 • This sample requires the Task Writer file created in Try Compliance command samples(p. 156).

1. Try Compliance command samples(p. 156) Open the created Task Writer file and select the compliance
command on the fourth line of the task list.
2. Select the Property tab.
3. Set the mode as the following: Mode On enables compliance control. Force command is available only
when compliance control is enabled.
• Mode: On
4. Set the default stiffness value as the following:
a. X, Y, Z: 3000 N/m (default)
b. Rx, Ry, Rz: 200 Nm/rad (default)
5. Press the Confirm button.
6. Select the Command tab.
7. Add a force command. This command is planned to be used for enabling force control.

8. Select the sixth line of the task list.

9. Add a force command. This command is planned to be used for disabling force control.
10. Select the force command from the fifth line of the task list.
11. Select the Property tab.
12. Set the mode as the following: Mode On enables Force Control.
• Mode: On
13. Set the Desired Force as the following:
a. X: 0 N (default)
b. Y: 0 N (default)
c. Z: -10 N
d. Rx, Ry, Rz: 200 Nm/rad (default)
14. Only check Z-axis in the Target Direction.

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15. Press the Confirm button.

16. Select the Force command from the seventh line of the task list.
17. Set the mode as the following: Mode Off disables Force Control.
• Mode: Off
18. Press the Confirm button.
19. Select the Play tab.
20. Enable the Real Mode toggle button.
a. Once the toggle button becomes enabled, the button lights up green.
21. Check if the TCP force of each axis is 0. This force value is the size of external force currently applied on the
robot end TCP.
22. Press the Play button.

23. -10N of force is applied on the robot end TCP causing the robot to slowly move in the Z-axis direction.
24. The robot end repels the robot movement in +Z-axis direction, the opposite of the robot movement
direction. When the force moving the robot and the force repelling robot movement reach a balance, the
robot will maintain its position as if it stopped.

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25. If a force greater than +10N is applied on the robot, the robot will comply with the force applied on the
robot and move in the force direction.

3.5.8 Skill - Try Pick & Place samples

OPTIONAL NORMAL 20 MIN

#Youtube_clip71 #Youtube_link72

This sample is created in the Task Builder. The Task Writer does not support the skill function.

 Caution
• Before trying the sample, make sure to read and follow Precautions for Use(p. 13). For more
information, refer to PART 1. Safety Manual(p. 10).

1. Select the Task Builder from the bottom menu.

2. Select the Select Workcell Item > Gripper icon.
3. Select the gripper registered as a Workcell Item. This sample cannot be tried if there is no gripper
registered as a Workcell Item.

71 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=5863&end=6181&rel=0
72 https://www.youtube.com/watch?v=W5IPEGexfBc

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4. Press the > button to register the Workcell Item as the selected Workcell Item.
5. Press the Next button.
6. Enter the task name.
7. Press Confirm.

8. Select the MainSub command from the second line of the task list. A new command is added to the next
line of the selected line.
9. Add the Pick skill command.
10. Add the Place skill command.
11. Select the Pick command from the third line of the task list.
12. Select the Property tab.
13. Press the Workcell Item Action to expand the menu. If the gripper Workcell Item is selected, gripper action
can be tested during Workcell Item action.

14. To test the gripper, press the Grasp button and perform grasp motion.
15. To test the gripper, press the Release button and perform release motion.

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16. In case of light workpieces, place the workpiece in the gripper and press the Grasp button to make the
robot hold the workpiece. Performing teaching while the gripper is holding a workpiece can help establish
an accurate position.
• However, having the robot hold a workpiece during teaching is not mandatory but an example.
• In the case of heavy workpieces, dangerous situations can occur as the gripper can lose the
workpiece.
• In the case of heavy workpieces, the Tool Weight of the Tool Settings must include the tool weight
and the workpiece weight.
17. Use direct teaching to move the robot to the point where Pick will be performed.
• Press and hold the hand guiding button in the cockpit to move the robot.
18. Press the Get Pose button of the Picking Pose.
19. Press the Confirm button.

20. Use direct teaching to move the robot to the point where Place will be performed.
21. Press the Get Pose button of the Placing Pose.
22. To release the workpiece from the gripper, press the Release button.
23. Press the Confirm button.

24. To set detailed settings of Pick and Place skill commands, select the Pick command in the third line of the
task list.
25. Press the Advanced Option to expand the menu and set as following: Use default values for items not
described below.
a. Entry Direction: Z-axis
• It sets the direction for entering the Pick position.
b. Approach Distance: 100 mm
• It sets the distance right before the robot approaches the Pick position. It secures sufficient
approach distance.

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c. Retract Distance: 100 mm

• It sets the distance after the robot retracts in the set direction from the Pick position. It
secures sufficient retract distance.
d. Approach Speed: 100 mm/s
• It sets the approach speed lower than the default value when the robot approaches an
object.
e. Compliance Control: Enabled (green)
f. Sensing Contact: Enabled (green)
• It enables Compliance Control and contact detection functions.
• Contact Force: 10N
• Contact Tolerance: 10 mm
• Force: 15N
• Scratch Offset: 2mm
g. Release Gripper Before Picking: Enabled (green)
• It sets the gripper in the Release state before approaching the pick location.
h. Tool Weight: None
• If the workpiece is not light, the workpiece weight and tool weight must be summed, be
added as a Tool Weight Workcell Item, and be selected.
26. Press the Confirm button.
27. Select the Place command from the fourth line of the task list.
28. Press the Advanced Option to expand the menu and set as following: Use default values for items not
described below.
a. Entry Direction: Z-axis
b. Approach Distance: 100 mm
c. Retract Distance: 100 mm
d. Approach Speed: 100 mm/s
e. Compliance Control: Enabled (green)
f. Sensing Contact: Enabled (green)
• It enables Compliance Control and contact detection functions.
• Contact Force: 10N
• Contact Tolerance: 10 mm
• Force: 15N
g. Tool Weight: None
29. Press the Confirm button.

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30. Use direct teaching to move the robot to the point where Pick&Place will start.
31. Move a workpiece to the Pick location.
32. Select the Play tab.
33. Enable the Real Mode toggle button.
34. Adjust the speed slide bar to 10-30%.
• This speed slide bar adjusts the set speed of all commands to the selected %.
• When a task is executed for the first time after its creation, executing it at a low speed may prevent
unexpected risks.
35. Press the Play button.
36. If the task is completed without issues, adjust the speed back to the default, 100%, and test again.

3.5.9 Utilize Sub/Call Sub

OPTIONAL NORMAL 5 MIN

#Youtube_clip73 #Youtube_link74

73 https://www.youtube.com/embed/W5IPEGexfBc?version=3&loop=0&playlist=W5IPEGexfBc&start=1490&end=1700&rel=0
74 https://www.youtube.com/watch?v=W5IPEGexfBc

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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, the
end 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.

(YouTube)

The sample where a Sub command is used to execute grip and release motions of a robot gripper consists of the
following.

1. Lines of the Main paragraph execute the task program in sequential order starting from the first line.

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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.
• 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. Add the Sub command from the Task Builder or Task Writer.
2. Enter the subroutine name.
3. Proceed with Confirm.

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Add CallSub command

1. Add the CallSub command from the Task Builder or Task Writer.
2. Select the subroutine name registered with Sub command.
3. Proceed with Confirm.

 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 move
the focus to the corresponding Sub command line.

3.5.10 Utilize debugging

OPTIONAL NORMAL 5 MIN

The teach pendant offers debugging functions for task programs created using the Task Builder and Task
Writer.

• Debugging refers to the process of removing bugs in the created code.

• The debugging function is a mandatory tool in finding and fixing bugs within an app.

This section describes the debugging screen, function and method of the Task Builder, but the same procedure
can be used in the Task Writer.

 Note
• To execute the task and to perform debugging, the robot must be in Servo On state. Press the
Status > Servo On button to set the robot to Servo On.

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1. Open the task program to debug in the Task Builder.

2. Check whether the task list has the task to debug.
3. Select the Play tab on the screen right.
4. Select the Debug checkbox.

5. The Tools menu on the left offers the following debugging functions.
• Break Point: It refers to the point where the program is deliberately stopped. The program will
temporarily be stopped before executing the command in the selected command line.
• Skip Point: It refers to the point where the program is deliberately skipped. The command of the
selected line is not executed and the command in the next line is executed.
• Play: It is the button that executes debugging, and it has the same function as the button executing
programs. The difference is that executing debugging will activate break points and skip points.
6. Select the command line to debug and press the Break Point button to add a break point.
7. The break point will stop before executing the command in the corresponding point when debugging is
executed by pressing the Tools > Play button. During pause, the Tools menu on the left offers the following
debugging functions.
• Resume: Continues the execution of the paused command from the corresponding command line.
• Stop: Ends the program debugging.
• Step by Step: Executes the single line of the paused command. The command is paused again in
the next command line.
8. Once debugging is complete, modify command or property tab items requiring fixes, and execute
debugging again.

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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 (including connection cables)* Controller (Option : Refer to Appendix)

Emergency stop Button* Controller Power Cable

Teach Pendant** Smart Pendant**

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Laptop (for DART Platform installation, not included) Manual*

 Note
• Components may vary depending on the robot model.

• Items are indicated as standard items (*) and optional items (**, sold separately)
• The laptop is not included in the package, and it is necessary when installing the DART
Platform.

4.1.2 Names and Functions

Manipulator

Names of Parts

No. Name No. Name

1 Base 6 J4

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No. Name No. Name

2 J1 7 Link2

3 J2 8 J5

4 Link1 9 J6

5 J3 10 Tool Flange

Key Features

No. Item Description

1 Cockpit Controller used for direct teaching.

2 Tool flange Area to install tools.

3 Flange I/O I/O port for tool control.

(Digital input 2ch, output 2ch)

4 LED (1-axis) Displays the robot state with different colors. For more information about robot
state, refer to the “ .각 부 명칭과 기능 v2.9(p. 174) ”

5 Connector Used for supplying power to and communication of the robot.

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Controller

No. Item Description

1 I/O Used to connect the controller or peripherals.

connection
terminal
(internal)

2 Emergency To use the Teach Pendant, Smart Pendant, or Emergency Stop buttons, the switch
stop button must be set to match the actual configuration.
setting switch

 Warning
• If the setting(Section Emergency Stop Button Setting
Switch(p. 205)) of the emergency stop button setting switch is
different from the actual configuration, the emergency stop
button may fail and cause injury to the user in an emergency
situation, so check the setting condition and operation of the
emergency stop button.

3 Emergency Connects the emergency stop button or smart pendant cable to the controller.
stop button
and smart
pendant
connection
terminal

4 Teach Used to connect the teach pendant cable to the control box.
pendant
cable
connection
terminal

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No. Item Description

5 Manipulator Used to connect the manipulator cable to the controller.

cable
connection
terminal

6 Power Used to connect the controller power supply.

connection
terminal

7 Power switch Used to turn ON/OFF the main power of the controller.
For detailed product features, please refer System Power On/Off(p. 257)

Emergency Stop Button

No. Item Description

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

stop button

Smart Pendant
The smart pendant is not a standard item but an optional item, so it must be purchased separately

For detailed product features, please refer Appendix. Smart Pendant (A Series)(p. 424).

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No. Item Description

1 Robot LED Used to indicate the robot’s state by displaying the same color as the robot status
LED to the user.

2 Device LED Used to indicate whether the system entered smart pendant mode.

3 Function LED Pressing four input signal buttons (F1-F4) lights the LED, indicating the press status.

4 Buttons There are a total of 11 buttons including four input signal buttons (F1-F4) for each
function, home, servo, auto, play, stop, resume and pause.

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

Stop Button

6 Power Button Used to turn ON/OFF the main power of the smart pendant.

7 Strap Anchor Used to add a strap to the device.

8 Holder Install the holder bracket on a wall to store the smart pendant.
bracket

 Note
• For using SW V2.8 or higher, please attach the Reset label to the Resume button on the smart
pendant.
• If a version lower than SW V2.8 is used, the reset label does not need to be attached. In that
version, The resume button in Smart Pendant works as a resume function, not a reset function.
• The label may come off during use, so please be careful.

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Teach pendant
The teach pendant is not a standard item but an optional item, so it must be purchased separately

No. Item Description

1 Power button Used to turn ON/OFF the main power of the teach pendant.
For detailed product features, please refer System Power On/Off(p. 257)

2 Power LED Turns ON when power is supplied.

3 Emergency stop Press the button to stop robot operation in case of an emergency.
button

4 Hand guiding Press and hold the button to move the robot freely into a desired pose.
button

 Note
• If you need to protect and hold the Teach Pendant during work, you can use it more safely and
easily with a soft cover supplied by Doosan Robotics.

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4.1.3 System Configuration

No. Item Description

1 Laptop After installing the DART Platform, a work environment identical to the teach
pendant can be set up
The laptop is not included in the package and is required when installing and
using the DART Platform.

2 Teach It is a device that manages the overall system, and it is capable of teaching the
pendant** robot specific poses and setting the manipulator and items related to the
installation of the controller and manipulator.
(purchased separately as an option)

3 Controller* It controls the robot movement according to the pose or movement set by the
teach pendant. It features various I/O ports that allow the connection and use
of various equipment and devices.

4 Smart The robot can be easily controlled using a pendant capable of performing
Pendant** simple functions such as turning on the servo ON/OFF or executing/closing
preset programs.
(purchased separately as an option)

5 Emergency If a laptop is used as part of the system, it acts as the emergency stop button
Stop Button* of the teach pendant.

6 Manipulator It is an industrial collaborative robot that can perform transport or assembly

tasks with various tools

A Command/
Monitoring

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No. Item Description

B Command

C Power Supply/
Network

• Items are indicated as standard items (*) and optional items (**, sold separately)

4.1.4 Product Specifications, General

A Series Technical Data

A0509(S) Refer to .A0509(S)(p. 235)

A0912(S) Refer to .A0912(S)(p. 236)

4.1.5 Robot Specifications

Basic Specification
Model Name A0509 A0509S* A0912 A0912S*

Weight 21 kg 31 kg

Payload within Work 5 kg 9 kg

Radius

Max. Work Radius 900 mm 903 mm 1200 mm 1203 mm

Number of Axes 6

Max. TCP Speed Over 1 m/s

Position Repeatability ±0.03 mm ±0.05 mm

(ISO 9283)

Protection Rating IP 54

Noise < 65 dB

Installation Direction Any Orientation

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Model Name A0509 A0509S* A0912 A0912S*

Controller and Teaching Doosan Controller, DART Platform & Teach Pendant (Option)
Pendant

Vibration and 10≤f<57㎐ - 0.075mm amplitude

Acceleration
57≤f≤150㎐ – 1G

Impact Max Amplitude : 50㎨(5G)

* Time : 30㎳ , Pluse : 3 of 3 (X,Y,Z)

Operating Temperature -5 ℃ ~ 45 ℃ (268K to 318K)

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

Humidity 90% RH (non-condensing)

• This is the model with an integrated Force Torque Sensor, so make sure to check the FTS Specification.

Axis Specification
Model Name A0509 A0509S A0912 A0912S

Operating Angle

J1 ±360° ±360°

J2 ±360° ±360°

J3 ±160° ±160°

J4 ±360° ±360°

J5 ±360° ±360°

J6 ±360° ±360°

Max. Speed per Axis (rated payload operation)

J1 180 °/s 180 °/s

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Model Name A0509 A0509S A0912 A0912S

J2 180 °/s 180 °/s

J3 180 °/s 180 °/s

J4 360 °/s 360 °/s

J5 360 °/s 360 °/s

J6 360 °/s 360 °/s

Robot operating space

A0509

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A0509S

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A0912

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A0912S

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Max. Payload within operating space

The maximum payload of the robot within its operating space changes according to the distance from the
center of gravity. Payload per distance is as follows:

 Note
This 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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A0509

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A0912

Allowed Moment and Inertia

The allowed moment and inertia for the J4-J6 robot are as follows:

Model J4 J5 J6
Name

Allowed Inertia Allowed Inertia Allowed Inertia

Moment Moment Moment

A0509 50 Nm 0.69 kg㎡ 50 Nm 0.69 kg㎡ 50 Nm 0.69 kg㎡

A0912

A0509s 11 Nm 0.15 kg㎡ 11 Nm 0.15 kg㎡ 11 Nm 0.15 kg㎡

A0912s

Tool Center Point (TCP)

Refer to the figure below for TCP.

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4.1.6 Nameplate and Label

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

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 Note
If you have selected an optional controller, please check the appendix as the label attachment location
may vary.

4.2 Installation

4.2.1 Cautions during Installation

 Warning

• Do not touch the power plug and power cable with wet hands when connect them to a power
source. This can cause electrocution or injury. The maximum payload of the robot within its
operating space changes according to the distance from the center of gravity. Refer to the tool
center information provided in the manual.
• Secure sufficient space for installation before installing the robot. If not enough space is
secured, the robot may be damaged or the user may be injured.
• Safety devices to be connected to the controller must be connected to a safety contact input
terminal or a configurable digital I/O set to Safety I/O using dual signals. If safety devices are
connected a regular I/O or are connected using single signals, the devices cannot satisfy the
required safety level.

• If the setting (Section Emergency Stop Button Setting Switch(p. 205)) of the emergency stop
button setting switch is different from the actual configuration, the emergency stop button may

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fail and cause injury to the user in an emergency situation, so check the setting condition and
operation of the emergency stop button.

 Caution

• Ensure that the mounting bolts are completely tightened during installation. If the mounting
bolts become loose, the base and robot may separate during operation, resulting in
breakdowns.
• Make sure that safety measurements and robot safety setting parameters are correctly defined
according to the risk assessment. If this is not established, the robot may be damaged or the
user may be injured.
• Correctly set robot installation-related settings such as robot mounting angle, TCP weight, TCP
offset and safety settings. If this is not established, the robot may be damaged or the user may
be injured.

4.2.2 Installation Environment

Secure sufficient space to allow the robot to move freely. Check the operating space of the robot to ensure that
the 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.

Robot Work Area Check

Secure installation space considering the operating space of the robot. The operating space varies according to
the robot model.

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 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 to
perform 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 and
bottom 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 9.5 mm holes in the manipulator base to secure the robot.

• It is recommended to use a 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.

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manipulator base drawing, use four M8 bolts. 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 the
robot 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 of
time. 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
flange

1. 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

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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 the Manipulator and Controller

Connect the robot cable to the controller

• Push the manipulator cable connected to the robot into the corresponding controller connector until a
click is heard to prevent the cable from becoming loose.

 Caution
• Do not disconnect the manipulator cable while the robot is turned on. This can cause damage
to the robot.

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• Do not modify or extend the manipulator cable.

• When installing the controller on the floor, secure at least 50 mm of space on each side of the
controller to enable ventilation.
• Make sure that connectors are properly connected before turning on the controller.

 Note
• When configuring the system, it is recommended that a noise reducer be installed to prevent
noise effects and malfunction of the system.
• If the controller is influenced by noise generated by electromagnetic waves, it is recommended
to install a ferrite core on each side of manipulator cable to ensure normal operation. The
installation location is as follows:

Connecting the Controller and Emergency Stop Button

Connect the emergency stop button cable to the corresponding controller connector and install a screw lock by
turning it clockwise to prevent the cable from becoming loose.

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 Warning
• If the setting(Section Emergency Stop Button Setting Switch(p. 205)) of the emergency stop
button setting switch is different from the actual configuration, the emergency stop button may
fail and cause injury to the user in an emergency situation, so check the setting condition and
operation of the emergency stop button.

 Caution
• Make sure to check the connector shape before connecting the cable.
• If the emergency stop button is used, be careful not to trip on the connecting cables.
• Be careful not to allow the controller, emergency stop button and cable to come in contact with
water.
• Do not install the controller, and emergency stop button in a dusty or wet environment.
• The controller, and emergency stop button must not be exposed to dust conditions exceeding
IP40 ratings. Be especially careful in environments that have conductive dust.
• Do not disconnect the emergency stop button cable during robot operation.

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Connecting the Controller, and Smart Pendant

Connect the smart pendant cable to the corresponding controller, connector and install a screw lock by turning
it clockwise to prevent the cable from becoming loose.

 Warning
• If the setting(Section Emergency Stop Button Setting Switch(p. 205)) of the emergency stop
button setting switch is different from the actual configuration, the emergency stop button may
fail and cause injury to the user in an emergency situation, so check the setting condition and
operation of the emergency stop button.

 Caution
• Make sure to check that the pins of the cable end are not damaged or bent before connecting
the cable.
• If the smart pendant is used by hanging it on the wall or on the controller, be careful not to trip
on the connecting cables.
• Be careful not to allow the controller, smart pendant and cable to come in contact with water.
• Do not install the controller and smart pendant in a dusty or wet environment.
• The controller and smart pendant must not be exposed to dust conditions exceeding IP20
ratings. Be especially careful in environments that have conductive dust.

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• Ensure that the smart pendant cable curvature is greater than the minimum curvature radius
(120 mm).

 Note
• When configuring the system, it is recommended to install a noise reducer to prevent noise
influence among devices and system malfunctioning.
• If the smart pendant is affected by the noise generated by electromagnetic waves, it is
necessary to install a ferrite core to ensure normal operation. The installation location is as
follows:

Connecting the Controller and Teach Pendant

Push the teach pendant cable into the corresponding controller connector until a click is heard to prevent the
cable from becoming loose.

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 Caution
• Make sure that the pins of the cable end are not damaged or bent before connecting the cable.
• If the teach pendant is used by hanging on a wall or on the controller, be careful not to trip on
the connecting cables.
• Be careful not to allow the controller, teach pendant and cable come in contact with water.
• Do not install the controller and teach pendant a in a dusty or wet environment.
• The controller and teach pendant must not be exposed to a dusty environment that exceeds
IP20 ratings. Be especially careful in environments with conductive dust.

 Note
• When configuring the system, it is recommended that a noise reducer be installed to prevent
noise effects and malfunction of the system.
• If the teach pendant is influenced by noise generated by electromagnetic waves, it is
recommended to install a ferrite core on the Teach Pendant connection side to ensure normal
operation. The installation location is as follows:

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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 curvature
radius of each cable is as follows:

Cable Minimum curvature radius (R)

Teach pendant cable 120 mm

Robot cable 120 mm

Smart pendant cable 100 mm

Emergency stop button cable 100 mm

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 Caution
• Ensure that the curvature radius between the teach pendant cable and teach pendant
connector 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.

Supplying Power to the Controller

To supply power to the controller, connect the power cable of the controller to a standard IEC power outlet.

• Use a cable with a standard power plug that matches the outlet of the country of use.
• Push the plug completely into the corresponding controller connector to prevent the cable from becoming
loose. Connect a standard IEC C14 plug and corresponding IEC C13 cord (refer to below) to the controller.

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 Warning
• After connecting the power cable, make sure that the robot has established a proper ground
(electronic ground connection). Establish a common ground for all equipment in the system
with an unused bolt related to 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 modify or extend the power cable. It can cause fire or controller breakdown.
• Make sure that all cables are properly connected before supplying power to the controller.
Always use the original cable included in the product package.

 Note
• When configuring the system, it is recommended to install a power switch that can turn off
power to all devices in the system at once.
• The power supply must satisfy minimum requirements such as ground and circuit breakers.
The electrical specifications are as follows: (If you selected an optional controller, check the
instructions in the appendix)

• If the input voltage is less than 180V, the robot’s movement may be limited according to the
load and motion.

Parameter Specification

Input Voltage 100 – 240 VAC

Input Power Fuse (@100-240V) 15 A

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Parameter Specification

Input Frequency 47 – 63 Hz

4.2.4 Emergency Stop Button Setting Switch

Configure the emergency stop button setting switch on the Case according to components and additional
components before connecting and starting up the product. If the setting is not configured according to the
guide, the robot will not operate properly.

The emergency stop button setting switch is located on the bottom left of the board inside the controller door.

Configure the setting according to the components as follows. Upon first receiving, the setting is configured as
Case 1.

Cas Whether or not to use Settings

e

1 1.Teach Pendant(O), Smart Pendant(O)

2.Teach Pendant(O), Emergency Stop
Button(O) 3.All use

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Cas Whether or not to use Settings

e

2 1.Smart Pendant(O), Teach Pendant(X)

2.Emergency Stop Button(O), Teach Pendant(X)

3 Teach Pendant(O), Smart Pendant(X), Emergency Stop

Button(X)

 Warning
If the setting of the emergency stop button setting switch is different from the actual configuration, the
emergency stop button may fail and cause injury to the user in an emergency situation, so check the
setting condition and operation of the emergency stop button.

4.2.5 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 and smart 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 power
using the power switch.

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4.3 Interface

4.3.1 Flange I/O

The end flange cover of the robot has one M8 spec 8-pin connector, and refer to the figure below for the location
and shape.

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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Schematic Diagram

The I/O functions provided through X1 connector are different from each other, and refer to the table below for
detailed I/O settings.

X1 Setting (Digital I/O, RS 485)

No Signal Note

1 RS485 A Mfg date

2 RS485 B
2020.07.06
~
3 Digital Output 1
2021.01.21

4 Digital Output 2

5 +24V

6 Digital Input 2

7 Digital Input 1

8 GND

X1 Setting (Digital I/O, RS 485)

The setting has been charged as follows since January 21, 2021

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No Signal Note

1 Digital Input 1 Mfg date

Before July 6, 2020
2 Digital Output 1

Mfg date
3 Digital Output 2
After January 21, 2021

4 RS485 A
Other serial numbers appled
5 +24V VMA6F5-A0509S
WAA6H7-A0912
6 RS485 B
WAA6H8-A0912

7 Digital Input 2

8 GND

 Caution
• Configure tools and grippers after checking I/O configuration based on production date (robot
label mfg date).
• You can find it on Doosan Robotlab.(https://robotlab .doosanrobotics.com75)
• If you run robot tools ignoring I/O configuration, the product can be damaged permanently.

Internal power of the 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 - 2 3 A

Digital output - 2 - EA

Digital input - 2 - EA

75 http://doosanrobotics.com

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 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 the
robot, 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
• 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 tool
and 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

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Parameter Min Typ Max Unit

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 Connecting Controller I/O

In addition to the manipulator and teach pendant, various external equipment can be connected to the
controller through the controller I/O terminal. Various peripherals such as safety devices, including emergency
stop switch, light curtain and safety mats, and devices required during robot work cell setup including
pneumatic solenoid valves, relays, PLCs and conveyor belt encoders can be connected.

The controller I/O consists of the following six units:

• Terminal Block for Safety Contact Input (TBSFT): Used to connect devices required for emergency
stopping and protective stopping
• Terminal Block for Digital I/O Power (TBPWR)
• Configurable Digital IO Block (TBCI1- 4, TBCO1– 4): Used to connect peripherals required for robot
operation
• Terminal Block for Analog I/O (TBAIO)
• Terminal Block for Encoder Input (TBEN1, TBEN2)

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

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 Caution
• Turn off the power when connecting terminals to the controller I/O to prevent product damage
and breakdown.
• Doosan Robotics will not compensate any product damage caused by inappropriate terminal
connection or user negligence.
• Make sure to turn off the external power source when turning off the controller power

Setting the Terminal Block for Contact Input (TBSFT)

The safety I/O of the controller consists of dual contact input terminals for connecting safety devices. These
terminals are categorized into two groups depending on their use.

• 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 such
as light curtain and safety mat.

If no external safety device is connected, connect each contact input as follows:

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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 Normal Normal Normal Normal

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 this will
result in inappropriate operation of the safety stop function, which can cause severe injury or
death to the user.
• If any of the contacts are open, the robot will stop operation according to the safety stop mode
setting, 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

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• 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 to
devices that output a safety signal as contacts. To connect peripherals that output safety
signals as voltages to the safety controller, refer to the description for Setting the Configurable
Digital I/O (TBCI1 - 4,TBCO1 - 4)(p. 216)

Setting the Digital I/O Power Terminal (TBPWR)

VIO and GIO are power terminals used for the safety controller digital I/O located in the front of the controller
and are separated from the VCC24V and GND that supply SMPS inside the controller. If the user uses a current of
2A or less for the configurable digital I/O, and if there is no insulation for the connected I/O device and
controller, the internal power supply of the controller can be used as the I/O power supply, as shown in the
figure below. (factory default setting)

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

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

 Caution
• Make sure to turn off the external power source (SMPS) when turning off the power for the
controller.

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

Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)

The digital I/O of the controller consists of 16 inputs and 16 outputs. They are used to connect peripherals
required for robot control or are set as a dual safety I/O to be used as safety signal I/O purposes.

The electrical specifications of the configurable digital I/O are as follows:

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Terminal Parameter Specification

Digital Output [Oxx] Voltage 0 - 24 V

[Oxx] Current 0-1A

[Oxx] Voltage Drop 0-1V

[Oxx] Leakage Current 0 - 0.1 mA

Digital Input [Ixx] Voltage 0 - 30 V

[Ixx] OFF Range 0-5V

[Ixx] ON Range 11 - 30 V

[Ixx] Current 2 – 15 mA

 Caution
• The VIO (IO 24V) and GIO (IO GND) terminals that can be used as power supplies for digital I/O
are separated from the VCC (24V) and GND of other power supplies on the safety I/O circuit.
Take caution as the diagnostic functions of the robot will detect errors if the internal power
supply is connected as a digital I/O power supply through the Terminal Block for Digital I/O
Power (TBPWR), or if 24V power is not supplied to the VIO and GIO terminals through an
external power supply, the configurable digital I/O does not work, and shuts off operating
power to the robot.

If the configurable digital I/O is used as a general digital I/O, various low current operations such as solenoid
valves for voltage and signal exchanges with PLC systems or peripherals can be performed. The following
explains 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 TBCI1-TBCI4
and Ixx terminals. The output of the external device only acts on the open/close of the contact through the
relay, so it is electrically insulated from external devices.

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If wet contact input is received

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

If a simple load is operated

It is a method of connecting loads between the Oxx terminals of TBCO1-TBCO4 terminal blocks and the GIO
terminal.

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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 an external power supply must be connected.

If a negative common & sink type input device is connected

If digital I/O output is connected to a sink type input device, connect the Oxx terminals of the TBCO1-TBCO4
terminal blocks to the input terminal of the external device, and connect the 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 the TBCO1-TBCO4 terminal blocks and GIO terminal to supply
input signals as contacts to the external device. If necessary, an external power supply can be connected to the
external device.

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 Caution
• General digital I/O devices can stop at any time due to controller power shortage, self-diagnosis
error detection and work program setting. Therefore, perform risk assessment before setting
up a robot workcell, and if additional risks such as workpiece falling, ignoring digital input or
synchronization error due to incorrect recognition, make sure to implement additional safety
measures.
• 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 connection of
safety devices or safety related I/O is required, make sure to set the corresponding terminal to
dual safety I/O on the teach pendant.

If the configurable digital I/O is used as a safety I/O

Two neighboring I/O terminals, such as O01 & O02, … , O15 & O16, I01 & I02, ... I15 & I16, can use identical safety
signals to form a dual safety I/O.

While the Safety Contact Output Terminal (TBSFT) can only be connected with contact type (Dry Contact)
signals, input set as safety I/O can connect with both contact type (Dry Contact) and voltage type (Wet Contact)
signals Output set as safety I/O outputs voltage signals, but it can also output contact type signals by adding an
external relay.

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The following is an example of connecting a safety device for operation.

• 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.

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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.
• Current signals are relatively less sensitive to interference, so use devices operating in current mode for
analog 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 Parameter Specification

Current mode analog input [AIx-GND] Voltage -

[AIx-GND] Current 4 - 20 mA

[AIx-GND] Resistance
250 ohm

[AIx-GND] Resolution 12 bit

Voltage mode analog input [AIx-GND] Voltage 0 - 10 V

[AIx-GND] Current -

[AIx-GND] Resistance 1M ohm

[AIx-GND] Resolution 12 bit

Current mode analog output [AOx-GND] Voltage -

[AOx-GND] Current 4 - 20 mA

[AOx-GND] Resistance 50M ohm

[AOx-GND] Resolution 16 bit

Voltage mode analog output [AOx-GND] Voltage 0 - 10 V

[AOx-GND] Current -

[AOx-GND] Resistance 1 ohm

[AOx-GND] Resolution 16 bit

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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 the
output 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 block
and GND terminal. If the input of the device is voltage signal, it supplies a signal of 0-10Vdc. If the input of the
device 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 reduce
noise.
• 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 establishing
connections.

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Connecting Incremental Encoder A, B, Z phase

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Connecting NPN Sensor

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Connecting PNP Sensor

4.3.3 Network Connection

External Internet, TCP/IP equipment and Modbus equipment can be connected to the network router 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 will connect the network (refer to the figure below).

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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 the
target object using the vision sensor. Refer to the dedicated vision work setting program provided by the vision
sensor manufacturer.

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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 po , x , y , angl , var1 , var2 , …

at s e

• 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 are
provided in the Programming manual76

Connecting External Device – DART Platform

The DART Platform is software that runs on a Windows OS base desktop or laptop. Once you execute the DART
Platform after connecting the Controller and desktop/laptop through the LAN Port, all functions of the teach
pendant can be used. To establish a connection with sub-controllers within the controller, the following setup
procedure is required.

IP Address Search and Connection Setting

Communication Connection Setting

When a laptop is connected to the LAN port of the controller and the DART Platform is executed, the controller
IP address, sub-controller version information and robot serial number required for establishing a connection
are automatically searched.

Selecting the serial number of the robot to connect will connect the DART Platform and a sub-controller,
allowing the robot to be operated normally.

76 https://in-manual.doosanrobotics.com/display/Programming

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If there is an issue with the connection, implement the process below. If the issue is not resolved, contact the
sales or service staff for assistance.

• If the connectible controller IP address, sub-controller version information and robot serial number search
results are not displayed: Press the refresh button to search again and try to connect again according to
the procedure above.

• If information is not found even after pressing the refresh button, press and hold the F3 and F4 key of the
smart pendant* simultaneously for more than 3 seconds to reset to the default IP address and try to
connect again according to the procedure above.

* Purchased separately as an option

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. 232)) function. This function automatically starts
when the robot controller boots up normally. Therefore, the user can use it after matching the Master IP of the
robot controller with the same bandwidth.

 Note
• The related I/O Table is provided as a separate file.

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• 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. 232)). For more information about PROFINET, refer to www.profibus.com77.

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. 232)). For more information about EtherNet/IP, refer to www.odva.org78.

Using Expanded Protocol

The PROFINET IO Device (PNIO device) and EtherNet/IP Adapter (EIP adapter) functions start together at
controller startup, and are in connection standby state with the Master device. Therefore, in order to use the
function, 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.

77 http://www.profibus.com/
78 http://www.odva.org/

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 Note
The 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)
• 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.

• 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 national
and regional regulations.
• Doosan Robotics does not assume responsibility for any damages or losses that occur during
transportation, 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

A0509(S) -180° 0° 150° 0° 25° 0°

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Model J1 J2 J3 J4 J5 J6

A0912(S) -180° 0° 160° 0° 20° 0°

4.4.3 Package Specitications

The box specifications for transport are as follows:

Model Length Width Height

A0509(S) 755 mm 450 mm 545 mm

A0912(S) 986 mm 452 mm 545 mm

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 event
of 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 or
controller 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.

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• Take caution to prevent water or dust from entering the system during maintenance.

4.6 Disposal and Environment

Since this system contains industrial waste materials, improper disposal can cause environmental pollution.
Therefore, do not dispose of the system along with general industrial or household waste.

When disposing of all or part of the system, the relevant laws and legislation must be complied with, and
contact Doosan Robotics for detailed information related to the disposal of the system.

4.7 Annex. System Specification

4.7.1 Manipulator

A0509(S)

Classification Item Specifications

Performance Axis Structure 6

Payload 5 kg

Max. Radius A0509 : 900 mm

A0509S : 903 mm

TCP Speed Over 1m/s

Repeatability ± 0.03mm

Joint Movement J1 Range / Speed ±360° / 180°/s

J2 Range / Speed ±360° / 180°/s

J3 Range / Speed ±160° / 180°/s

J4 Range / Speed ±360° / 360°/s

J5 Range / Speed ±360° / 360°/s

J6 Range / Speed ±360° / 360°/s

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Classification Item Specifications

Operating Environment Operating Temperature -5 °C ~ 45 °C (268K-318K)

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

Humidity 90% RH (non-condensing)

Tool Flange & Connector Digital I/O - X1 IN-2ch / Out-2ch

Power Supply DC 24V / Max. 3A

RS 485 Support

Connector 1414229, female (PHOENIX)

Weight 21 kg

Mounting Any Orientation

IP Rating IP 54

Noise < 65 dB

A0912(S)

Classification Item Specifications

Performance Axis Structure 6

Payload 9 kg

Max. Radius A0912 : 1200 mm

A0912S : 1203 mm

TCP Speed Over 1m/s

Repeatability ± 0.05mm

Joint Movement J1 Range / Speed ±360° / 180°/s

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Classification Item Specifications

J2 Range / Speed ±360° / 180°/s

J3 Range / Speed ±160° / 180°/s

J4 Range / Speed ±360° / 360°/s

J5 Range / Speed ±360° / 360°/s

J6 Range / Speed ±360° / 360°/s

Operating Environment Operating Temperature -5 °C ~ 45 °C (273K-318K)

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

Humidity 90% RH (non-condensing)

Tool Flange & Connector Digital I/O - X1 IN-2ch / Out-2ch

Power Supply DC 24V / Max. 3A

RS 485 Support

Connector 1414229, female (PHOENIX)

Weight 31 kg

Mounting Any Orientation

IP Rating IP 54

Noise < 65 dB

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4.7.2 Controller

CS-01 (AC Controller)

Item Specification

Weight 13 kg

Dimensions 525 x 287 x 390 mm

Material Zinc Plated Steel

Protection Rating IP30

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 type can be supported)

NC Interface FANUC - FOCAS

I/O Port – Digital I/O 16/16

I/O Port – Analog I/O 2/2

I/O power supply DC 24V

Rated supply voltage 100-240VAC 47-63 Hz

Cable Length 6 m (Option: 3 m)

CS-02 (DC Controller)

Item Specification

Weight 12 kg

Dimensions 462 x 218 x 295 mm

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Item Specification

Material Zinc Plated Steel

Protection Rating IP20

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 type can be supported)

NC Interface FANUC - FOCAS

I/O Port – Digital I/O 16/16

I/O Port – Analog I/O 2/2

I/O power supply DC 24V

Rated supply voltage 22-60 VDC

Cable Length 3 m (Option: 6 m)

CS-01P (Protected AC Controller)

Item Specification

Weight 17 kg

Dimensions 577 x 241 x 422 mm

Material Zinc Plated Steel

Protection Rating IP54

Interfaces RS232/RS422/RS485, TCP/IP

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

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Item Specification

Industrial Network ModbusTCP (Master/Slave), ModbusRTU (Master), PROFINET IO

(Device), EtherNet/IP (Adapter)
(*In case of using a gateway, Other communication type can be
supported)

NC Interface FANUC - FOCAS

I/O Port – Digital I/O 16/16

I/O Port – Analog I/O 2/2

I/O power supply DC 24V

Rated supply voltage 100-240VAC 47-63 Hz

Cable Length 6 m (Option: 3 m)

CS-03 (AC Controller)

Item Specifications

Weight 13 kg

Dimensions 482 x 214 x 375 mm

Material Zinc Plated Steel

Protection Rating IP40

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 type can be
supported)

NC Interface FANUC - FOCAS

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Item Specifications

I/O Port – Digital I/O 16/16

I/O Port – Analog I/O 2/2

I/O power supply DC24V

Rated supply voltage 100-240VAC 47-63Hz

Cable Length 6m

CS-04 (DC Controller)

Item Specification

Weight 13 kg

Dimensions 482 x 214 x 375 mm

Material Zinc Plated Steel

Protection Rating IP40

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)
(*When using a gateway, Other communication type can be
supported)

NC Interface FANUC - FOCAS

I/O Port – Digital I/O 16/16

I/O Port – Analog I/O 2/2

I/O power supply DC24V

Rated supply voltage 22 – 60 VDC

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Item Specification

Cable Length 6m

4.7.3 Emergency Stop Button

EMSB-01

Item Specifications

Weight 0.2 kg
(Without cable)

Dimensions 68 x 68 x 91.5 mm

Protection Rating IP54

4.7.4 Smart Pendant (Option)

SP-01

Item Specifications

Weight 0.3 kg
(Without cable)

Dimensions 91 x 180 x 52 mm

Protection Rating IP40

Cable Length 6m

4.7.5 Teach pendant

TP-01
Item Specification

Weight 0.8 kg

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Item Specification

Dimensions 264 x 218 x 69 mm

Protection Rating IP40

Screen Size 10.1 inch

Cable Length CS-01/CS-01P : 4.5 m (Option : 2.5 m)

CS-02 : 2.5 m (Option : 4.5 m)

4.7.6 FTS(A0509S, A0912S only)

Item Specifications

Load Capacity Fx 110 N

Fy 110 N

Fz 110 N

Tx 11 Nm

Ty 11 Nm

Tz 11 Nm

Overload Capacity Fx 165 N

150%L.C.(Load Capacity)
Fy 165 N

Fz 165 N

Tx 16.5 Nm

Ty 16.5 Nm

Tz 16.5 Nm

Data Rate 1000 Hz

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Item Specifications

Operating Temperature 0 - 45 °C (273K-318K)

 Caution
• Make sure to use Quick Guide provided by Doosan Robotics as a referrence.

4.8 Annex. DC Controller (CS-02)

4.8.1 DC Controller (CS-04)

Product Introduction (CS-04)

Names and Functions

DC Controller (CS-04)

No. Item Description

1 I/O connection terminal (internal) Connecting with the controllers of other robots or
surrounding equipment is not possible.

2 Emergency Stop Button The switch must be set according to the actual
composition in order to use the Smart Pendant or
Setting switch
the emergency stop button.

3 Emergency stop button and Smart Pendant This connects the emergency stop button or Smart
connection terminal Pendant cable to the controller.

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No. Item Description

4 Teach Pendant cable connection terminal This connects the Teach Pendant cable to the
controller.

5 Manipulator cable connection terminal This connects the cable of the manipulator to
thecontroller.

6 Power connection terminal This connects power to the controller.

7 Power switch This turns the main power to the controller ON/
OFF.

System Configuration

No. Item Description

1 Laptop After installing the DART Platform, a work environment identical to the teach
pendant can be set up
The laptop is not included in the package and is required when installing and
using the DART Platform.

2 Teach It is a device that manages the overall system, and it is capable of teaching the
pendant** robot specific poses and setting the manipulator and items related to the
installation of the controller and manipulator.
(purchased separately as an option)

3 Controller It controls the robot movement according to the pose or movement set by the
teach pendant. It features various I/O ports that allow the connection and use
of various equipment and devices.

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No. Item Description

4 Smart The robot can be easily controlled using a pendant capable of performing
Pendant** simple functions such as turning on the servo ON/OFF or executing/closing
preset programs.
(purchased separately as an option)

5 Emergency If a laptop is used as part of the system, it acts as the emergency stop button
Stop Button of the teach pendant.

6 Manipulator It is an industrial collaborative robot that can perform transport or assembly

tasks with various tools

A Command/
Monitoring

B Command

C Power Supply/
Network

• Items are indicated as standard items (*) and optional items (**, sold separately)

Nameplate and Label

Installation (CS-04)

Cautions During Installation

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 Caution
• Secure sufficient space for installation before installing the controller If not enough space is
secured, the controller may be damaged or the manipulator or Teach Pendant cable may
become broken.
• Check the input power supply when connecting power to the product. If the connected input
power supply is different from the rated power input (22-60 VDC), the product may not operate
properly or the controller may be damaged.

Installation Environment
When installing the controller, consider the following.

• Secure sufficient space for installation before installing the controller.

• The controller must be fixed.
• Make sure all components are fixed during installation in portable mobile equipment.

Hardware Installation
Install the manipulator, controller and pendants (emergency stop button), which are the necessary elements of
system, before operating of the robot, and then connect the power. The installation method of each component
is as follows:

Connecting the Manipulator and the Controller

Push the manipulator connection cable into the corresponding controller connector until a click is heard. This will
prevent the cable from becoming loose.

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 Caution
• Do not disconnect the manipulator cable while the robot is turned on. This can cause damage
to the robot.
• Do not modify or extend the manipulator cable.
• When installing the controller on the floor, secure at least 50 mm of space on each side of the
controller to enable ventilation.
• Make sure that the connectors are properly connected before turning on the controller.

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

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Connecting the Controller and the Emergency Stop Button

Connect the emergency stop button cable to the corresponding controller connector and engage the screw lock
by turning it clockwise to prevent the cable from becoming loose.

 Warning
• Set the emergency stop button setting switch according to “Emergency Stop Button Setting
Switch(p. 205)”.
• If the switch setting is different from the actual configuration, the emergency stop button may
not operate properly in an emergency, which could result in injuries. Make sure to check the
settings and operation of the emergency stop button.

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 Caution
• Make sure to check the connector shape before connecting the cable.
• If the emergency stop button is used, be careful not to trip on the connecting cables.
• Be careful not to , allow the controller, emergency stop button or cables to come in contact
with water.
• Do not install the controller or emergency stop button in a dusty or wet environment.
• The controller and emergency stop button must not be exposed to dust conditions exceeding
IP40 ratings. Be especially careful in environments with conductive dust.
• Do not disconnect the emergency stop button cable during robot operation.

Connecting the Controller and the Smart Pendant

Connect the Smart Pendant cable to the corresponding controller connector and engage the screw lock by
turning it clockwise to prevent the cable from becoming loose.

 Warning
• Set the emergency stop button setting switch according to “Emergency Stop Button Setting
Switch(p. 205)”. If the setting switch of the emergency stop button is different from the actual
configuration, the emergency stop button may not operate properly in an emergency, which
could result in injuries. Make sure to check the settings and operation of the emergency stop
button.

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 Caution
• Make sure to check that the pins in the cable end are not damaged or bent before connecting
the cable.
• If the Smart Pendant is used by hanging it on the wall or on the controller, be careful not to trip
on the connecting cables.
• Be careful not to allow the controller, Smart Pendant or cables to come in contact with water.
• Do not install the controller or Smart Pendant in a dusty or wet environment.
• The controller and Smart Pendant must not be exposed to dust conditions exceeding IP20
ratings. Be especially careful in environments with conductive dust.
• Ensure that the curvature of the Smart Pendant cable is greater than the minimum curvature
radius (120 mm).

 Note
• When configuring the system, it is recommended that a noise reducer be installed to prevent
noise influence among devices and system malfunction.
• If the Smart Pendant is affected by the noise generated by electromagnetic waves, it is
necessary to install a ferrite core to ensure normal operation. The installation locations are as
follows:

Connecting the Controller and the Teach Pendant

Push the Teach Pendant cable into the corresponding controller connector until a click is heard. This will
prevent the cable from becoming loose.

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 Warning
• Set the setting switch of the emergency stop button (A-Series) according to “Emergency Stop
Button Setting Switch(p. 205)”. If the setting switch of the emergency stop button is different
from the actual configuration, the emergency stop button may not operate properly in an
emergency, which could result in injuries. Make sure to check the settings and operation of the
emergency stop button.

 Caution
• Make sure to check that the pins in the cable end are not damaged or bent before connecting
the cable.
• If the Teach Pendant is used by hanging it on the wall or on the controller, be careful not to trip
on the connecting cables.
• Be careful not to allow the controller, Teach Pendant or cable to come in contact with water.
• Do not install 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
IP20 ratings. Be especially careful in environments with conductive dust.

 Note
• When configuring the system, it is recommended that a noise reducer be installed to prevent
noise influence among devices and system malfunction.

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• 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:

Arranging the Cables

Ensure that the cables have curvatures greater than the minimum curvature radius. The minimum curvature
radius of each cable is as follows:

Cable Minimum Curvature Radius (R)

Teach Pendant cable 120 mm

Manipulator cables 120 mm

Smart Pendant cable 100 mm

Emergency stop button cable 100 mm

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 Caution
• Ensure that the each connection part of the Teach Pendant is greater than the minimum
curvature radius (120 mm).
• If the curvature radius is smaller than the minimum curvature radius (120 mm), cable
disconnection or product damage may occur.
• In environments exposed to noise generated by electromagnetic waves, install suitable cables
and take other measures to prevent malfunction.

Connecting Controller Power

Push the power cable into the corresponding controller connector until a click is heard. This will prevent the
cable from becoming loose.

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 Warning
• After connecting the power cable, make sure that the robot is properly grounded (electrical
ground connection). Establish a common ground for all equipment in the system with unused
bolts related to 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 devices such as a circuit breaker.
• Do not modify or extend the manipulator cable. This can cause a fire or controller breakdown.
• Make sure that all cables are properly connected before supplying power to the controller.
Always use the original cable included in the product package.
• Be careful not to connect the polarity of the input voltage incorrectly.

 Note
• Whenconfiguring the system, it is recommended that a power switch be installed that can turn
off power to all devices in the system at once.
• If a controller for the DC is used, the robot’s movement may be limited according to the load
and motion.
• If the input voltage is 48 V or less, the robot’s movement may be limited according to the load
and motion.
• The power supply must satisfy minimum requirements such as grounding and circuit breakers.
The electrical specifications are as follows:

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Parameter Specifications

Input Voltage 22 – 60 VDC

Rated Input Current 30 A

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5 PART 4. User Manual

The user manual describes how to operate the system, how to configure settings, and how to operate the robot
manually/automatically.

5.1 System Power On/Off

5.1.1 When using a teach pendant

Press and hold the power button on the upper left of the teach pendant.

 Note
If the system does not power up, check the power switch at the bottom of the controller. For details,
refer to Power On/Off Controller Switch(p. 206)
• 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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 Warning
• Press and hold the power button for more than 4 seconds to force system shutdown.
• Forced shutdown may cause robot and controller failure.

5.1.2 In case of using only E-STOP Box

Open the controller door, and press and hold the power button located below the bottom right of the Safety
board.

• To turn off the power, press and hold the button.

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5.1.3 When using a smart pendant (optional item)

Press and hold the power button on the upper left of the smart pendant.

• To turn off the power, press and hold the button again.

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5.1.4 System Booting

After the system is powered on, the system boots up. When booting is complete, the system application is
displayed on the teach pendant. For more information about the system application, refer to “ Program screen
configuration(p. 260)”.

 Note
• Servo On: In order to move the robot’s pose, the robot must be in servo on status where power
is supplied to joints of the robot and the robot is on standby. For more information about servo
on, refer to “ Servo On(p. 273)”
• Date and Time Setting: The date and time displayed on the teach pendant and the log
message saved on the robot follow the date and time setting of the system, so the date and
time must be configured at initial boot up. For information regarding how to configure the date
and time, refer to “ Date and Time Setting(p. 397) ”.
• Using the DART Platform allows robot control without the teach pendant.
• The DART Platform displays a screen that shows the robot connected to the network after
booting, and the process of checking the robot’s serial number and connecting to the robot
take place on this screen.

5.2 Program screen configuration

The UI of the system operation program consists of the following:

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N Item Description
o.

1 Status This area displays the name of the task currently being executed and the current work status.
Display
Area

2 Work This area is where the user enters and changes settings when performing work using the
Screen robot. This area is displayed differently according to the selected main menu.
Area

3 Main This area is the main menu of the system, and pressing each menu will go to the
Menu corresponding screen.
Area

5.2.1 Home Screen Overview

Information about the current task status and task, and work progress graphs are displayed.

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Item Description

Task The total number of lines of the task program is displayed.

Tapping the number indicating the program line will go to Task Builder or Task Writer.
Tapping the Execute button will go to a screen showing the opened task. For more information
about the task execution screen, refer to “Task Execution and Stopping(p. 395) ”.

Robo Displays the number of settings of the robot work space. Tap this item to go to the robot item setting
t screen of the Workcell Manager. For more information about the robot, refer to “ Robot
Setting(p. 285) ”.

End Displays the number of end effectors connected to the robot. Tap this item to go to the end effector
Effec setting screen of Workcell Manager. For more information about end effectors, refer to “ End Effector
tor Setting(p. 309)"

Mach Displays the number of machines used in the task. Tap this item to go to the machine setting screen
ine of Workcell Manager. For more information about the robot, refer to “ Machine Tool Setting(p. 316)”.

Perip Displays the number of peripherals connected to the task. Tap this item to go to the peripheral
heral setting screen of Workcell Manager.
s For more information about peripherals, refer to “ Peripheral Setting(p. 317) ”.

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Item Description

Work Displays the target number, work count, and time of the current task. The information displayed
Statu can be selected using checkboxes.
s

5.2.2 Status window

To check or test the I/O information, tap the Status button in the main menu.

The Status window allows you to check the I/O information of devices connected to the controller and flange,
and the Backdrive mode and Safety Recovery function can be executed.

The Status window is a popup window, so it is possible to tap the Status button on the Home, Task Builder or
Task Writer screen even during Auto mode to check I/O information. The output test cannot be performed
during Auto mode.

No. Item Description

1 Backdrive If the robot is stopped due to an abnormality during

operation, the user can cut the power to each joint and move
the joint to the desired position manually to recover the
normal operation status.

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No. Item Description

2 Safety Recovery Sets the robot angle and position when setting the robot in
software recovery mode and packaging mode.

3 Servo On Supplies the driving power that moves each joint of the
robot.

4 I/O Manages the digital and analog I/O status of the controller
and flange.

5 I/O Test Checks and tests the digital and analog I/O devices of the
controller and flange used by the task.

6 Modbus Test Tests the signals of the set Modbus device.

7 Slave Mornitoring Monitors all slave functions provided by

Industrial Ethernet Slave (PROFINET,
EtherNet/IP, Modbus).

8 Job Space Displays encryption of the entire job space data registered to
check whether the job space setup has been modified.
Status Value

9 Safety Setup Displays encryption of the entire safety data registered to

check whether the safety setup has been modified.
Status Value

5.2.3 Status Display Area

The status display area displays the current robot status and the opened task. The items displayed in the area
may vary according to the screen displayed.

No. Item Description

1 Menu Tap the Menu button to create a new task, or save or load a task currently being edited.
The functions displayed when the menu button is tapped vary according to the screen
displayed.

2 Task The name of the task currently being executed is displayed.

Name

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No. Item Description

3 Tool It runs the Tool Setting popup. refer to “ Tool Setting(p. 318) ”
Setting
Button

4 Robot The current work status and time of the robot are displayed.
State

 Note
Check the robot state shown in the status display area. The information can be used as a reference when
performing work using the robot. Refer to “ Robot Mode and State(p. 16) ”.

5.2.4 Work Screen Area

The screens displayed on the work screen vary according to the main menu selected by the user.

 Note – Status, Jog, Setting Popup Window

The Status, Jog and Settings screens are displayed in popup windows for operation convenience, and
tapping the button in the popup window will return to the edit screen prior to the popup window.
Pressing the Workcell Manager, , Task Builder or or Task Writer button on the main menu without
closing the popup window using the button on the Status, Jog or Settings screen will enter a new
screen rather than returning to the previous screen.

5.2.5 Main Menu

Major functions of the system can be checked in the main menu. Tap each menu button to go to the
corresponding menu screen.

• Home: It is the initial screen of the system, and information and a work progress graph of the current task
are displayed. For more information about home, refer to “ Home Screen Overview(p. 261) ”
• Workcell Manager: Robots and peripherals can be added to the task and managed. For more information
about the Workcell Manager, refer to “ Utilizing Workcell Manager(p. 284) ”
• Task Builder: Commands provided by the system can be added or deleted to configure a single task. For
more information about Task Builder, refer to “ Task Builder(p. 353) .”
• Task Writer: Advanced users can configure a single task by adding, editing or deleting commands to be
used in the task. For more information about the Task Writer, refer to “ Task Writer(p. 385).”
• Status: The I/O status of devices connected to the robot and controller can be checked. For more
information about the status, refer to “ Status window(p. 263) & I/O and Communication(p. 274) ”

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• Jog: The robot can be moved to or aligned with a specific point using the jog button. For more information
about jog, refer to “ Jog Function(p. 319)”
• Setting: System-related settings, such as language, password and network, can be configured. For more
information about setting, refer to “ Environment Setting(p. 396) ”
• Power: Power to the system can be turned off.

 Note – Disabling Main Menu Button

When the robot is in Servo Off or in Auto mode, some of the main menu becomes disabled, limiting user
operation.
• Servo Off: In Servo Off, main menu buttons other than Home, Status, Settings and Power are
disabled. To change from Servo Off to Servo On, tap the Status button on the main menu and
tap the Servo On button on the Status When the robot is in Servo On, Workcell Manager, Task
Builder, Task Writer and Jog buttons are enabled.
• Auto Mode: This is the mode where the robot is operated automatically according to the user’s
task. Main menu buttons other than the Status and Power buttons are disabled. Stopping the
current task will enable all buttons.

Screen Information not updated when transferring control from certain screens
• When transferring control between Windows and Teach Pendant from the same screen, the
information saved on one screen is not automatically reflected in the other device until
reloading is performed.

5.3 Understanding the robot

The operation modes of the robot consist of manual mode, where the user controls the robot directly, and auto
mode, where the robot operates without direct user control. For more information, refer to Robot Mode and
State(p. 16).

The color or illumination of the LED changes according to the robot status. For more information, refer to Status
and Flange LED Color for Each Mode(p. 17).

5.3.1 Functional Limits of each Robot Series

The different 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 (Current- A Series S (Current, M Series (JTS- H Series (JTS-

based) FTS-based) based) based)

Direct Teaching O O (Current-based) O O

- Free Motion

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Features A Series (Current- A Series S (Current, M Series (JTS- H Series (JTS-

based) FTS-based) based) based)

Direct Teaching X O (FTS based) O O

- Restrained Motion

Collision Detection O O (Current-based) O O

Installation Pose X O (FTS based) O X(the robot can

Measurement only be
installed on the
floor)

Tool Weight X O (FTS based) O O

Measurement

Workpiece Weight X O (FTS based) O O

Measurement

Nudge Function X X O O

Force Control O O (FTS based) O O

(setting available
only in three
translation
directions,
excluding rotation)

Compliance O O (FTS based) O O

Control
(setting available
only in three
translation
directions,
excluding rotation)

Functional Limits of force monitoring for each Robot Series

You can use the teach pendant and DART-Studio to monitor force data. You may also use the DRL command
(Check_force_condition()) to monitor force data externally.

• If the palletizing mode is set to “ON”: The same control/monitoring functions provided in the OFF state
are available, except for H Series robots.

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Features A A Series S (Current- M H Series (JTS-based)

Series (Curr based and FTS- Series (JTS-
ent-based) based) based)

Force O (setting O (FTS-based) O O

control available
only in three
O (If the palletizing mode is set to
translation
“ON”: Force control output limited
directions,
excluding (Base Rx, Ry orientation) 1))
rotation)

Compliance O (setting O (FTS-based) O O

control available
only in three
O (If the palletizing mode is set to
translation
“ON”: Compliance control output
directions,
excluding limited (Base Rx, Ry orientation) 1))
rotation)

Force X O (FTS-based) O (Force O (Force value of “0” shown for the

monitoring value of “0” singularity section)
shown for
(Teach
the
Pendant) O (If the palletizing mode is set to
singularity
“ON”: 4-Degree of Freedom provided
section)
for the base (x, y, z, Rz))

Force O (Force O (FTS-based) O (Force O (Force value of “0” shown for the
monitoring value of “0” value of “0” singularity section)
shown for shown for
(DART-
the the
Studio) O (If the palletizing mode is set to
singularity singularity
“ON”: 4-Degree of Freedom provided
section) section)
for the base (x, y, z, Rz))

Force O (Force O (FTS-based) O (Force O (Force value of “0” shown for the
monitoring value of “0” value of “0” singularity section)
shown for shown for
(When using
the the
DRL O (If the palletizing mode is set to
singularity singularity
commands: “ON”: 4-Degree of Freedom provided
section) section)
Check_forc for the base (x, y, z, Rz))
e_
condition())

1)
Control output restriction (Base Rx, Ry orientation): The force or compliance control value for the Base Rx or
Ry orientation has not been output. Entering the force or compliance control value of the relevant axis (Base Rx,
Ry) will have no effect, and will be ignored as “0.”

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5.3.2 What is 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 robot
end.

For 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 the
singularity.

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 as
shown 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.

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

5.3.3 What is Euler Angle A, B, C?

Euler Angle is a way to express the angles of X, Y and Z axes, which are perpendicular among themselves in the
object 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 based
on new coordinates.

This can be visualized with steps 1 to 4.

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1. Assume there are coordinates (X, Y, Z).

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.

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

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 be
perpendicular 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.

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

5.4 Servo On
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 Workcell
Manager, Task Builder, Task Writer and Jog, which are related to robot arm operation, are disabled in the
main menu.

To change from Servo Off to Servo On, tap the Status button on the main menu and tap the Servo On button on
the top right.

To shift from Servo On to Servo Off, tap the Status button of the main menu and tap the Servo Off button in
the top right corner of the screen.

 Note
In the Settings screen, if the safety signal I/O, POS_3_ENABLE_SWITCH, is set, Servo On is available only
if this signal is inputted.

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5.5 I/O and Communication

5.5.1 I/O Status Check

Controller/Flange Digital Input Check

1. Check the port number of the device connected to the controller or 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 is displayed in
blue, and if it is Low, it is displayed in gray.

• Only two flange I/Os of the flange digital input of A-Series are displayed.

Controller Analog Input Check

1. Press the drop-down list of 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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Controller/Flange Digital Output Setting

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.
• The icon changes to light green and the corresponding port is enabled when the On icon is pressed.
• The icon changes to light green and the corresponding port is disabled when the Off icon is
pressed.

Only two flange I/Os of the flange digital output of A-Series are displayed.

Controller Analog Output Setting

1. Press the drop-down list of the analog output of the controller to select the item to set.
• Analog output information of the selected item is displayed on the right side of the drop-down list.
• The default value for analog output signals is voltage.
2. Modify the analog output value.

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5.5.2 I/O Test

No. Item Description

1 Current Task Displays the task currently being edited or executed.

2 Save Task If changes are made to the task being edited, they must be saved in order to test
the I/O device.

3 Port Number It displays the port number used for testing the I/O device, and it is displayed
when the signal is on.

4 Port Name The port name of the I/O device for testing can be designated.

5 I/O Test A signal can be sent to the corresponding port.

6 Initialization Initializes all signals of the device as off.

5.5.3 Modbus Test

This is the menu to check and test Modbus signals set at Modbus TCP, Modbus RTU, and predefined Modbus.

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No. Item Description

1 Modbus Select the Modbus type to check. TCP, RTU, and predefined Modbus are available.
Type

2 Slave Displays the list of IPs/Ports of the slave set of the selected Modbus type. When
selected, it displays a list of corresponding signals.

3 Signal List Displays a list of signals set on the selected slave. Input and output signals can be
checked.

5.5.4 Status > Slave Monitoring

It is the menu where monitoring for all Slave functions offered by the industrial Ethernet Slave (PROFINET,
EtherNet/IP, Modbus) can be accessed.

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No. Item Description

1 Slave Type Select the slave type to be monitored. Modbus, EtherNet/IP and Profinet are
available.

2 Settings List Monitoring items can be set by entering the type, address, output and description.

3 Update & It can update monitoring setting information and start monitoring.
Start
Even if the slave type is changed after execution, each setting is maintained.

5.6 What is a Workcell Item?

Workcell Item refers to the robot and all peripherals used together with the robot.

Workcell items can be configured in the Workcell Manager screen before use. Also, the *Workcell Manager* can
set commands for peripherals and can configure commands for the robot to perform certain patterns and
actions.

The following screen appears when the Workcell Manager in the main menu is tapped.

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N Item Description
o.

1 Robot Setting items related to the robot can be added and added setting items are displayed.

• General
• World Coordinates
• Robot Limits
• Safety I/O
• Normal I/O
• Safety Stop Modes
• System Variable
• Robot installation pose
• Tool weight
• Tool shape
• User Coordinates
• Nudge
• Space Limit
• Collaborative Zone
• Crushing Prevention Zone
• Collision Sensitivity Reduction Zone
• Tool Orientation Limit Zone
• Custom Zone

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N Item Description
o.

2 End End effectors can be added to the robot, and the added end effector is displayed.
Effector
• Double-Action Gripper
• Single-Action Gripper
• Screwdriver
• Tool

3 Machine Machines compatible with the robot can be added, and the added machine is displayed.

• Press machine
• Turning center
• Injection molding machine

4 Peripheral Peripherals connected to the robot can be added, and the added peripheral is displayed.
s
• Pallet (4P)
• Conveyor
• Bolt feeder

5 Workcell List of Workcell items registered in each category is displayed. Selecting a Workcell item
Item Area moves to the corresponding Workcell item setting screen.

6 Add Adds a Workcell item to each category. Tap the add Workcell item button at the bottom of
Workcell the category to go to the Workcell item select screen of the corresponding category.
Item
Button

 Note
Detailed explanations of various Workcell items provided by the Workcell Manager are provided in a
reference manual.

5.6.1 Add Workcell Item

Tap the add button at the bottom of each Workcell displayed on the initial screen of the Workcell Manager to
display the Workcell category and type selection screen. Select the Workcell category and type to register, and
tap the Select button to go to the corresponding Workcell setting screen.

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 Note
The Workcell Item name must consist of 20 alphabet characters and numbers. The only special character
allowed is the underscore, and the name cannot have blank space at the front or back.

5.6.2 Deprecated Workcell Item

Workcell items are managed in two states: Normal, where new items can be registered, and Deprecated, where
maintenance is no longer possible.

Workcell Items can be updated due to increased usability and additional motion improvements. If a Workcell
Item is updated, the existing Workcell Item becomes deprecated, and it cannot be added or edited. Deprecated
Workcell Items are displayed as gray icons.

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Deprecated Workcell Items cannot be added, but they can be used to view setting information and can also be
used in the current task program. If a deprecated Workcell Item is selected, the setting information of the
Workcell Item is displayed along with a message stating “Deprecated Item.”

Tapping the Edit button cannot edit the setting, but deletion is possible.

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5.6.3 Unavailable Workcell Items

Any 3rd Party Workcell Item which is not installed or do not have a compatible version will be listed as an
Unavailable Workcell Item.

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This displays the Workcell Item Package Version compatible with the current SW, Workcell Items that are not
installed, and the name and type of Workcell Items that are not compatible. In order to properly use such
Workcell Items, the corresponding Workcell Item must be downloaded from Doosan Mate and installed.

5.7 Utilizing Workcell Manager

5.7.1 Robot Safety Setting

The following safety settings must be configured before operating the robot for the first time after installation.

 Warning
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.

Safety Limit Setting

For more information about the universally applied safety limit, refer to “79Robot Limits Setting(p. 293)”.

79 http://manual.doosanrobotics.com/#_Safety_I/O_Setting

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Space Limit and Zone Setting

For more information about the spatial limit which limits the work space of the robot and the zone settings for
configuring safety limits for each zone, refer to “Space Limit and Zone Settings Overview(p. 301)”.

5.7.2 Robot Setting

The robot setting screen layout is composed as follows:

No. Item Description

1 Enter Enter the name of the Workcell.

Workcell
Name

2 Simulation Displays the work space simulation of the Workcell.

Screen

3 View All All other registered Workcells are displayed. Selecting all checkboxes enables the
View All function. De-selecting checkboxes disables the function.

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No. Item Description

4 Change to The simulation screen is displayed as a full screen. Tap the minimize button ( ) on
Full Screen( the full screen to return to the minimized screen.
)

5 Zoom In( Zoom in or out the simulation screen.

)/Zoom Out(
)

6 Rotate( )/ Rotate or move the simulation screen. Tap the button and drag or tap the screen to
control.
Move( )

7 Simulator Sets the direction of the simulator. The simulation is displayed from the selected
Direction direction.
Setting

8 Workspace Displays the workspace of the Workcell.

9 Delete Deletes the current Workcell.

10 Draft Draft: This temporarily saves the workspace settings of Workcell.

Confirm Confirm: This saves the current or confirmed temporary save of the workspace
settings of Workcell.
(For safety-related Workcells only, the Confirm button is displayed after Confirm
Temporary Save has been performed. For general Workcells, only the Confirm button
is displayed.)

11 Confirm Draft This confirms to save the temporarily saved workspace settings.
(This is displayed only for safety-related Workcells and not displayed for general
Workcells)

Robot Installation Pose Setting

The robot can be installed at any angle. To configure the robot installation pose, tap the “Add” button on the
Robot Workcell and select Robot > Robot Installation Pose. The robot installation pose can be entered
manually or calculated automatically.

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No. Item Description

1 Auto Calculate Calculates the robot installation angle automatically.

2 Y-axis Rotation Setting Enter the Y-axis angle of the robot during installation.

3 Z-axis Rotation Setting Enter the Z-axis angle of the robot during installation.

 Note
Tap the Auto Calculate button to calculate the inclination value automatically. The installation pose
Auto Calculate function can be used when the robot base is inclined from the ground by more than 5
degrees. The Auto Calculate function for robot installation pose allows easy configuration of the
installation pose required by direct teaching, force control and compliance control functions without
entering accurate installation angle values, but the absolute position accuracy of the automatically
calculated robot pose setting may be lower than that of accurately measured values.

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

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Tool Weight Setting

To configure the robot tool weight, tap the “Add” button on the Robot Workcell and select Robot > Tool
Weight.

Auto Tool Weight Measurement:

1. Select an Auto motion calculation method.

• All Motion: All joints are used to measure tool weight.
• 4, 5, 6 Motion: Joints 4, 5 and 6 are used to measure tool weight.
2. Enable the checkbox of the parameter (weight, center of gravity) to estimate.
• It is possible for the user to enter a known parameter value without enabling the checkbox.
• If the user enters a known parameter, the values for parameters with their checkboxes enabled
calculate the weight or center of gravity according to the entered parameter value.
3. Tap the Auto Calculate

 Warning
• If the Auto Calculate checkbox for weight is disabled, enter a positive real number.
(the center of gravity can be a negative real number or 0)
• Remove all obstacles before executing auto calculate.
• To execute Auto Calculate of 4, 5 and 6, the 3-axis angle must be greater than +30 degrees or
less than -30 degrees.

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• Note that safety monitoring functions are disabled during Auto Calculate.
• During Auto Calculate, the Auto Calculate button becomes the Stop button, which allows the
user to stop Auto Calculate. If calculation is stopped, the weight and center of gravity values are
reset.

 Note
When automatically measuring tool weight, there is a margin of error of ±0.5 kg (1.1 lb.).

 Caution
• A-Series without FTS (Force Torque Sensor) does not feature Auto Calculate for weight.

Tool Shape Setting

To set the robot tool shape, tap the Add button on the Robot Workcell and select Robot > Tool Shape. The
Safety Password is required during setup.

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Tool shape can be set by adding Cuboid, Sphere, and Capsule shapes.

Select a shape that matches the tool and tap the Confirm button.

World Coordinates Setting

A coordinate system representing the robot and workpiece can be set. This coordinate system is called World
Coordinates, and it is different from Base Coordinates, which are fixed to the base. It is possible to set the pose
of Base Coordinates using World Coordinates, and World Coordinates can be selected when teaching and
moving using the robot in Task Builder and Task Writer. To set World Coordinates, tap the Add button on the
Robot Workcell and select Robot > World Coordinates.

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1. Tap the Edit button at the top.

2. Please refer to the figure depicting the relationship between the World Coordinate and Base Coordinate,
as well as related precautions.

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 Warning
When changing the relationship between World and Base coordinates, the teaching point of
World Coordinates or user coordinates based on World Coordinates can change. Changes are
only recommended when the actual relationship between World Coordinates and Base
Coordinates are changed.
3. The mounting pose (installation inclination) is displayed on the right center. In general, World Coordinates
describe the work environment from the user’s perspective, so the Z-direction of World Coordinates is in
the direction of the ceiling. Since one axis of Base Coordinates is fixed to the bottom plane of the robot,
the relationship between World Coordinates and Base Coordinates changes according to the robot’s
installation location/pose. The above figure assumes that the robot is installed on a wall. In this case, the
Z-axis of Base Coordinates is perpendicular to the wall, which is in parallel to the Y-axis of World
Coordinates, and the mounting pose inclination and rotation are displayed as 90 and 0 degrees,
respectively. The relationship between World and Base Coordinates is defined as the relationship of the
Base Coordinates based on World Coordinates. If there is a predefined layout for the work environment,
set the coordinates accordingly. The values X/Y/Z mean movement, and the values A/B/C mean rotation
based on the definition of Euler Z-Y-Z. If the mounting pose is defined according to the robot’s installation
pose, it is appropriate to use the rotation angle of B/C as the mounting pose B/C. However, if the mounting
pose is set using the Auto assumption function, the assumed value may contain a deviation, so it
recommended to use the rotation angle defined according to the layout.

4. Tap the Apply button.

5. Tap the Confirm button.

 Note

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User programs created using Task Builder and Task Writer after applying the installation inclination in
SW versions earlier than GF020400 must set World Coordinates with the installation inclination applied
when updating to SW versions later than GF020400 and convert all Base Coordinates into World
Coordinates within the user program in order to properly use existing teaching points.

If multiple robots are working in a common work space or if the robot is installed on a moving device such as a
mobile base or linear track, the relationship and teaching point position between the workpiece and robot base
may change. In such environments, World Coordinates, which are easy to teach work and share, can be set.

When a tool is installed or replaced, the weight of the tool must be configured before operating the robot. For
more information about setting tool weight, refer to “Tool Weight Setting(p. 288)".

Robot Limits Setting

It sets the safety limits of safety monitoring functions.

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

TCP/Robot Limits
To set the TCP/Robot Limits, go to the Robot Workcell and select Robot > Robot Limits > TCP/Robot. The TCP/
Robot Limits setting screen layout is composed as follows:

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No. Item Description

1 Force (N) It can limit the force level applied to the tool center point (TCP).

2 Power (W) It can limit the mechanical power level of the robot.

3 Speed (mm/s) It can limit the speed of the tool center point (TCP).

4 Momentum (kg.m/ It can limit the momentum size of the robot.

s)

5 Collision (%) It configures the collision detection sensitivity.

6 Default Value It resets the TCP/Robot Limits settings to default values.

Joint Speed Limits

To set the joint speed limits, go to the Robot Workcell and select Robot > Robot Limits > Joint Speed. The
Joint Speed Limits setting screen layout is composed as follows:

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No. Item Description

1 Joint Speed It can limit the speed of each joint.

2 Default Value It resets the Joint Speed Limits settings to default values.

Joint Angle Limits

To set the joint angle limits, go to the Robot Workcell and select Robot > Robot Limits > Joint Angle. The Joint
Angle Limits setting screen layout is composed as follows:

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No. Item Description

1 Angle Range of each Joint It can limit the angle range of each joint.

2 Default Value It resets the Joint Angle Limits settings to default values.

Normal I/O Setting

This function outputs various robot status signals through a single terminal. To set the Normal I/O, go to the
Robot Workcell and select Robot>Normal I/O.

• Single Output Setting

Signal Name Description

Safe Torque Off (L) • High: Robot is not in Servo Off, Emergency Stop state
• Low: Robot is in Servo Off or Emergency Stop state

Safe Operating Stop (L) • High: Robot is not in Standby state

• Low: Robot is in Standby state, and standstill monitoring is
activated.

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Signal Name Description

Normal Speed (L) • High: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input
• Low: Robot is operating as normal speed

Reduced Speed (L) • High: Robot is operating as normal speed

• Low: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input

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

• Low: The robot is in Auto Mode

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

• Low: The robot is in Manual Mode

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

Standalone Zone (L) • High: The robot’s TCP is in a Collaborative Zone

• 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 in a Collaborative Zone

High Priority Zone (L) • High: The robot’s TCP is not in any Collision Sensitivity
Reduction Zone and not in a High Priority Zone option
checked Custom Zone
• Low: The robot’s TCP is in a Collision Sensitivity
Reduction Zone or in a High Priority Zone option checked
Custom Zone

Tool Orientation Limit Zone (L) • High: The robot’s TCP is not in any Tool Orientation Limit
Zone
• Low: The robot’s TCP is in a Tool Orientation Limit Zone

Designated Zone (L) This is used to confirm if the TCP (Tool Center Point) is inside the
user-defined Zone.
The Designated Zone signal defined on the Safety Output setting
UI can be selected from the Zone setting UI
• High: If the TCP is not inside any Zone linked with the
Designated Zone normal output
• Low: If the TCP is inside a Zone linked with the Designated
Zone noraml output

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Signal Name Description

Task Operating (L) • High: Task is not in operation

• Low: Task is in operation

Robot In Motion (L) This is used to notify the operator that the robot joint is actually
operating.
• High: The robot is stopped
• Low: The robot is operating

Encoder Initialization Alarm (L) This is used to notify the operator that encoder initialization is
required due to an issue in the home position setting.
• High: The robot requires encoder initialization
• Low: The robot does not require encoder initialization

Home Position (L) This is used to confirm whether the robot is at the home position.
• High: The robot is not at the home position
• Low: The robot is at the home position

Deceleration - SS1 SS2 (L) This is used to check whether the robot is decelerating or not
during operation. In standby or normal operation, the signal
remains high. When deceleration starts, the signal changes to Low,
and when deceleration ends, the signal returns to High again.
• High: Normal operation
• Low: Deceleration by SS1 or SS2 is occurred

Safety I/O Setting

This function inputs/outputs safety-related signals through a redundant terminal. If a signal that is different
from the redundant safety input or output signal is detected, the system determines whether it is a short circuit
or hardware defect and stops the robot with STO Stop Mode.

• To set the Safety I/O, go to the Robot Workcell and select Robot > Safety I/O.

For more information, See Safety I/O(p. 35)

Safety Stop Modes Setting

The safety-rated monitoring function can detect limit violations and set the Stop mode used when stopping the
robot.

• To set the Safety Stop Modes, select Workcell Manager > Robot > Safety Stop Modes.

For more information, refer to Safety Stop Modes(p. 39).

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System Variable Setting

It is a variable with variable, sequence and pose values saved in preset names/values.

• System variable name starts with the prefix 'System_'.

• Other than the Workcell Manager, system variables can be edited from the Task Builder and Task Writer
screens.
• Preset user coordinates can be assigned to poses.

The following is the method of creating/editing/deleting system variables.

• Create: Enter the variable name and value and click the Add button to create a system variable with the
entered values.
• Edit: Click the edit mode checkbox to select system variables, edit the variable name and values, and click
the Apply button to edit system variables.
• Delete: Select the system variables to delete from the system variable list and click the Delete button to
delete system variables.

 Caution
• When restoring teach pendant data, data restoration will stop if the number of variables
exceeds 50, the maximum number of additional items.

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Nudge Setting
If the robot stops in the collaborative zone due to safety stop mode SS2 or RS1,, reset is unavailable in
Interrupted state but work can be resumed with nudge input

• To set Nudge, select Robot > Nudge item from the Robot Workcell.

For more information, refer to Nudge Setting(p. 40).

User Coordinates Setting

The coordinate representing the workpiece can be set. This coordinate is called User Coordinates, and it is
different from World Coordinates. It is possible to set the pose of User Coordinates using the base or World
Coordinates, and User Coordinates can be selected when teaching and moving using the robot from Task
Builder and Task Writer. To set User Coordinates, tap the Add button on the Robot Workcell and select
Robot > User Coordinates.

1. Enter the values required for settings.

2. Make sure to read the description image and cautionary items of the User Coordinates.
3. User Coordinates can be created based on 1-point, 2-points and 3-points.
4. It is possible to load pallet coordinates from Advanced Options and apply them to User Coordinates
points.

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Space Limit and Zone Settings Overview

For more information on space limits and zones, see the following in PART 1. Safety Manual(p. 10)

• Space Limit(p. 41)

• Zone(p. 41)

Space Limit and Zone Shape

The shapes of Space Limit / Zone are set according to the following:

Item Description

Cuboid The shape of Space Limit / Zone is set as a cuboid.

• Enter the lower endpoint (Point 1) and upper endpoint (Point 2) of the cuboid and
tap the Save Pose button.

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Item Description

Tilted The shape of Space Limit / Zone is set as a tilted cuboid.

Cuboid
• Enter the reference point (Point 1), x-axis endpoint (Point 2), y-axis endpoint (Point
3), z-axis endpoint (Point 4) of the tilted cuboid and tap the Save Pose button.
• The three lines (Point 1-Point2, Point 1-Point 3, Point 1-Point 4) must cross each other
at right angles. (a deviation of +/- 5 degrees is acceptable)
• Using the Constraint Motion of “Surface Lock” and “Axis Lock” based on Point 1 will
help the robot obtain Point 2, Point 3 and Point 4 more easily.

Cylinder The shape of Space Limit / Zone is set as a cylindrical.

• Enter the point at a radius distance, the point of the upper plane and the point of the
lower plane of the cylinder, and tap the Save Pose button.

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Item Description

Multi-plane The shape of Space Limit / Zone is set as a multi-plane box.

Box
• 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 for the points of the area to be configured.

Sphere The shape of Space Limit / Zone is set as a sphere.

• 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.

Space Limit Settings

To set space limits for the robot, tap the Add button on the Robot Workcell and select Space Limit>Cube,
Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The safety password is required during setup and
activation.

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Space Limit shape along with the Inspection Point, Valid
Space and Zone Margin in the Geometry tab.
3. Set the Dynamic Zone Enable and Advanced Options in the Parameters tab, and press Draft.
4. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm

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5. Press the Activate Toggle button to apply the Space Limit.

 Note
There are Zone Margin defaults depending on the setting methods.
• If the tool shape is set and Body volume check is not selected, TCP margin is 0 mm.
• If the tool shape is set and Body volume check is selected, TCP margin is 0 mm.
• If the tool shape is not set and Body volume check is not selected, TCP margin is 0 mm.
• If the tool shape is not set and Body volume check is selected, TCP margin is 60 mm.

Collaborative Zone Settings

To set the Collaborative Zone, tap the Add button on the Robot Workcell and select Collaborative Zone >
Cuboid, Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The safety password is required during setup and
enablement.

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the
Geometry tab.
3. Set the TCP/Robot Limits, Safety Stop Modes and Dynamic Zone Enable in the Parameters tab, and press
Draft.
4. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm
5. Press the Activate Toggle button to apply the Collaborative Zone.

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Crushing Prevention Zone Settings

To set the Crushing Prevention Zone, tap the Add button on the Robot Workcell and select Crushing
Prevention Zone > Cuboid, Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The safety password is
required during setup and enablement.

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the
Geometry tab.
3. Set the TCP/Robot Limits, Safety Stop Modes, Dynamic Zone Enable and Advanced Options in the
Parameters tab, and press Draft.
4. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm
5. Press the Activate Toggle button to apply the Crushing Prevention Zone.

Collision Sensitivity Reduction Zone Settings

To set the Collision Sensitivity Reduction Zone, tap the Add button on the Robot Workcell and select
Collision Sensitivity Reduction Zone> Cuboid, Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The
safety password is required during setup and enablement.

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the
Geometry tab.
3. Set the override option, TCP/Robot Limits and Dynamic Zone Enable in the Parameters tab and press
Draft.

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 Warning
• Collision Sensitivity Reduction Zone is a High Priority Zone.
• High Priority Zones have priority over the other Zones and global Robot Limits setting.
And If multiple High Priority Zones are overlapped, the safety function uses the LEAST
restricted safety limit. For these reasons, the size of High Priority Zone should be
specified as small as possible for safety
4. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm
5. Press the Activate Toggle button to apply the Collision Sensitivity Reduction Zone.

Tool Orientation Limit Zone Settings

To set the Tool Orientation Limit Zone, tap the Add button on the Robot Workcell and select Tool
Orientation Limit Zone> Cuboid, Cylinder, Multi-plane Box, Sphere or Tilted Cuboid. The safety password is
required during setup and enablement

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the
Geometry tab.
3. Set the TCP direction limit and Dynamic Zone Enable in the Parameters tab and press Draft.
4. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm
5. Press the Activate Toggle button to apply the Tool Orientation Limit Zone.

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Custom Zone Settings

To set the Custom Zone, tap the Add button on the Robot Workcell and select Custom Zone > Cuboid,
Cylinder, Multi-plane Box, Sphere, or Tilted Cuboid. The safety password is required during setup and
enablement.

1. Enter the Workcell Name in the Workcell Name field on the top of the Workcell Setting screen.
2. Set the pose information according to the Zone shape along with the Valid Space and Zone Margin in the
Geometry tab.
3. To import shape setting configurations from another Zone, select the Zone from Import Geometry &
Parameters in the Advanced Options and press Import.

4. Set the Priority Option, Override Option, TCP/Robot Limits, Safety Stop Modes, TCP direction limit, Joint
Speed Limits, Joint Angle Limits, and Dynamic Zone Enable in the Parameters tab and press Draft.

 Warning

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High Priority Zones have priority over the other Zones and global Robot Limits setting. And If
multiple High Priority Zones are overlapped, the safety function uses the LEAST restricted
safety limit. For these reasons, the size of High Priority Zone should be specified as small as
possible for safety.

 Note
If the TCP is in a position where multiple Zones overlap, the following rules apply for each
safety fuction individually.
a. Normal Mode
• If there is no zone set as High Priority Zone, the most restricted limit among the limits
of overlapped Zones is selected as the safety limit for that position.
• If there is one Zone set as High Priority Zone, the limit of this Zone is selected as the
safety limit for that position.
• If there are two or more Zones set as High Priority Zone, the LEAST restricted among
the limits of overlapped Zones is selected as the safety limit for that position.
a. Reduced Mode
• If there is no zone set as a High Priority Zone, the most restricted limit among
the limits of overlapped Zones is selected as the safety limit for that position.
• If there is one Zone set as a High Priority Zone, the safety limit for that position
depends on Override Option.
• If the Override Option is not checked, the most restricted limit between
the limits of High Priority Zone and Global Reduced Limit is selected.
• If the Override Option is checked, the limit of High Priority Zone is
selected.
• If there are two or more Zones set as High Priority Zone, the safety limit for that
position depends on Override Option.
• If there is any High Priority Zone that Override Option is NOT checked,
the most restricted limit among the Global Reduced Limit and the limits
of High Priority Zones without Override Option is selected
• If Override Options of all High Priority Zones are checked, the LEAST
restricted limit among the the limits of High Priority Zones is selected
5. Verify that all parameters displayed are the same as what are Intended to be set, then check Confirm draft
and press Confirm

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6. Press the Activate Toggle button to apply the Custom Zone.

5.7.3 End Effector Setting

The end effector is a device that acts directly on the target using the tool attached to its tool flange to execute
the task the user has configured for the robot, and it has grippers (double-/single-action pneumatic grippers)
and tools (tools and screwdrivers). In addition, user-built tools and screens can be added as Workcell Items.
Doosan Robotics provide a web-based App Builder development eco system for Workcell Item app
development. Manuals and web services for App Builder can be found at the Developer LAB.

• [Developer LAB] https://devlab.doosanrobotics.com80

Grippers and Tools

Grippers are end effectors that have fingers to pick up or drop objects. The following is the setting screen for a
pneumatic gripper. This example will be used as the basis for explaining how to configure an end effector. For
more information about each gripper setting, refer to the separate manuals provided.

80 https://devlab.doosanrobotics.com/

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No. Item Description

1 Workcell Name Input Field Enter the name of the end effector.

2 Communication Sets the I/O signal of the end effector.

3 Tool Center Point Sets the tool center point (TCP) of the end effector.

4 Output Signal Checks and sets the output signal. (If a function is
enabled in Workcell Item Action, its name and signal
type are disabled.)
• Name: Displays the output signal name.
• Signal Type: Sets the output signal type
(controller, flange).
• Port Number: Select the end effector output
signal port.
• Signal: Tests the output signal status.

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No. Item Description

5 Input Signal Checks and sets the input signal. (If a function is enabled
in Workcell Item Action, its name and signal type are
disabled.)
• Name: Displays the output signal name.
• Signal Type: Sets the input signal type
(controller, flange, Modbus).
• Port Number: Select the end effector output
signal port.
• Operation: Displays the input signal status. If the
signal is normal, it is displayed as green.

6 Delete Deletes the end effector being configured.

7 Confirm Saves the setting.

Tool and screwdriver are available. Configuring tool settings is similar to that of gripper settings.
For more information about each tool setting, refer to the reference manuals provided.

End Effector I/O Signal Setting

1. Tap the Add ( ) Workcell button at the bottom of the end effector of the Workcell Manager.
2. Enter the Workcell name in the Workcell Name field at the top of the Workcell Setting screen.

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3. Select the port number for I/O signal setting. Default Value displays the initial value set by the App Builder.

4. Tap the Confirm button.

End Effector I/O Testing

To test the operation status of the connected end effector, follow the procedure below.

1. Select the end effector to test and tap the Edit button.

2. Tap the On/Off button of the Signal to test the output signal.

3. Select a function among the Workcell Item Actions and tap the Test button to test the end effector
function.

4. Check whether the end effector receiving the output signal operates normally.

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 Note
If the input signal is entered properly, a green indicator lights up.

Tool Center Point (TCP) Setting

When configuring the tool center point (TCP), the position and rotation angle based on the flange coordinates
must also be defined. The distance from the default starting point of the flange coordinate to the tool center
point (TCP)in the X, Y and Z directions cannot be set to be greater than 10000 mm. In addition, if the converted

lengths ( )of X, Y and Z are less than 300mm, force control, compliance control, and direct
teaching-point lock functions can be executed.

In particular, if the 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 items A, B and C,
and it is based on the Euler Z-Y-Z rotation method.

The definitions of the coordinate axis expressed with x, y, z and coordinate axis expressed with X, Y, Z are as
follows:

• Coordinate axis of “Flange Coordinate” (x, y, z): The coordinate axis direction defined at the end of the
flange is identical to the robot coordinate with a robot joint angle of (0,0,0,0,0,0).

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• Coordinate axis of “TCP Coordinate” (X,Y,Z): The coordinate axis is defined at the end of the tool installed
on the end of the flange or working point. The rotation angle of the “TCP Coordinate” is defined based on
the “Flange Coordinate” in the order of 1) to 3) of the following:

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)

Here are a few examples of configuring the TCP according to the method described above:

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• [X, Y, Z, A, B, C] = [0, 0, 100, 0, 0, 0]: General Gripper with Z-direction offset (TCP Coord)
• [X, Y, Z, A, B, C] = [100, 0, 300, 180, -45, 0]: Left Gripper with 45-degree angle (TCP Coord. L)
• [X, Y, Z, A, B, C] = [-100, 0, 300, 0, -45, 0]: Right Gripper with 45-degree angle (TCP Coord. R)

Tool Center Point Setting based on Other End Effectors

When using a symmetrical double gripper, the TCP of an end effector is configured based on the other well-
configured end effector. The TCP offset of a new end effector can be easily configured by rotating the pose and
point on the tool coordinate at the base end effector TCP point on the Z axis by the angle entered.

1. Select the Tool Center Point tab on the end effector setting screen.

2. Tap the Auto Calculate toggle switch.

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3. Select the Reference End Effector item.

4. Select the end effector to copy.

5. Configure the tool Z-axis rotate angle of the configuring end effector and reference end effector.

6. Click the Auto Calculate button on the bottom, check whether the calculated TCP offset is automatically
entered and tap the Confirm button.

 Note
• The configuring end effector and base end effector must be symmetrical on the tool Z axis.

5.7.4 Machine Tool Setting

Machine tools are the main work devices that interact with the robot, and the machine tools that can be
registered in the Workcell Manager are as follows:

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Category Type Description

Turning Turning It turns cylindrical materials to allow the material to be cut to the desired
Center Center shape using a tool turret.

Press Press This is a machine that compresses a flat material to form a desired shape.
Machine Machine

Injection Molding This is a device that injects materials such as plastic into a mold and forms it
Machine Machine into the desired shape.

Machine tool settings are similar to those of the gripper settings.

For more information about each machine tool settings, refer to the separate Reference manual81 provided.

5.7.5 Peripheral Setting

Peripherals are Workcell items that are not categorized as a robot, end effector or machine tool, but interact
with the robot. Peripherals that can be registered in the Workcell Manager are as follows:

Category Type Description

Feeder Shooting Bolt Feeder This is a device that supplies bolts to the end of a screwdriver using a tu

Pallet (4 Point) This is a cradle that allows the target to be placed in a set formation.
(Square, stack, and linear patterns available)

Pick-up Bolt Feeder This is a device that supplies bolts for screwdriving.

Others Button This is a device that sends On/Off signals.

External Encoder Externally installed Encoder Setting

Vision Smart Vision Camera This is a device that corrects the target position based on video informa

Conveyor Tracker Conveyor Tracker Externally installed Conveyor Operation Setting

For more information about peripheral settings, refer to the separate Reference manual82 provided.

81 https://in-manual.doosanrobotics.com/display/REF
82 https://in-manual.doosanrobotics.com/display/REF

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Others
The others category settings are similar to those of the gripper settings. For more information about other
category settings, refer to the separate Reference manual83 provided.

Vision
For more information about Vision settings, refer to the separate Reference manual84 provided.

5.8 Tool Setting

It sets the tool center point, weight and shape, which act as the basis for robot movement. It is possible to set
and enable multiple end effectors and the tool center point, weight and shape on the Workcell Manager screen,
so the tool center point, weight and shape of the end effector to be used must be set in Tool Settings of the
tool.

No. Item Description

1 Tool Setting Button It runs the Tool Setting popup.

83 https://in-manual.doosanrobotics.com/display/REF
84 https://in-manual.doosanrobotics.com/display/REF

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1. Select the Tool Setting button.

2. Select the desired Workcell item from the Tool Center Point, Weight or Tool Shape.

3. Press the Setting button to save the tool center point, weight or shape of the corresponding Workcell
item.

 Note
The robot’s tool center point and tool weight can be set to default where no input is made by pressing
the Reset button

5.9 Manual Robot Operation

This section describes how to operate the robot manually.

5.9.1 Jog Function

In Jog mode, the user can navigate the entire work space or set the operation space the user configured 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 function, tap the Jog button on the main menu.

• In Auto mode, the "Jog" button is disabled, so the function is unavailable.

• The Jog function cannot be used during Servo Off.

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• The robot is operated manually in the Jog screen, so the robot only moves when the Jog button is pressed.
• It is possible to move the robot based on the current position on the Jog tab screen.
• The robot can be moved by configuring the target angle/coordinates on the Move tab screen.
• It is possible to configure the reference coordinates on the Jog tab screen and Move tab screen as a joint
or task.
• The robot’s alignment reference is selected in the Align tab screen.

 Note
• On the Align screen, if the safety signal I/O, POS_3_ENABLE_SWITCH, is set, the Servo On and
Jog functions are available only if this signal is inputted.
• If the robot cannot be navigated due to being located in a space other than the operation space
of the Jog mode, set the robot operation space to “None” to allow the robot to be navigated.

Jog Screen
It is possible to navigate based on the current robot position on the jog screen.

No. Item Description

1 Joint It configures the joint as the reference coordinate for jog mode.

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No. Item Description

2 Task It configures the task as the reference coordinate for jog mode.

3 Select Axis Select an axis to move in jog mode.

• Joint Tab: Select one axis among J1 - J6.
• Task Tab: Select one axis among X ~ Rz.

4 Coordinate The coordinates of the robot currently operated in Jog mode is displayed. If the
Display robot position changes by pressing the direction button, the coordinate also
changes.

5 Direction It moves the robot in the + or - direction on the selected axis.

6 Manual Mode Configures the robot movement speed in manual mode. The speed can be
Speed adjusted by dragging the slider pointer.
If the slider pointer is at 100%, the corresponding maximum joint speed on the
Jog tab is 30 deg/s, and the maximum task speed is 250 mm/s. This speed
influences the speed controlled by the jog and movement buttons.

7 Real Mode It configures whether to operate the robot in real mode while in jog mode.
• On ( ): The robot actually moves.
• Off ( ): The simulator operates.

8 Simulator It selects the alignment direction of the robot displayed in the simulator.
Alignment Pressing each direction button aligns the robot in the corresponding direction.

9 Robot Workspace It displays robot workspace information registered in the Workcell Manager in
the Jog Simulator. Press the drop-down menu to select the workspace to
display.

 Note
• TCP Speed Limit: The highest operation speed during jog and movement button operation is
limited to 250 mm/s according to safety policies.
• If the robot stops due to reaching the joint limit or if a collision is detected while moving the
robot with jog mode, set the safety recovery mode and move the robot to be positioned within
the joint angle limit. For more information about Safety Recovery Mode, refer to “ Safety
Recovery Mode(p. 349)”

Execute based on Joint

To adjust the angle based on the robot joint, follow these steps:

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1. Select the Joint tab on the Joint screen.

2. Select the axis (J1-J6) to adjust the angle.

3. Press and hold the Direction Button ( , ) to adjust the angle of the corresponding axis.

 Note
Safety area does not apply in virtual mode.

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Execute based on Robot Base

To move the robot based on the robot base, follow these steps:

1. Select the Task tab on the Jog screen.

2. Select the display coordinates to be used as the base and select the Base as the reference point of the task
coordinates.

3. Select the Base Coordinates to move.

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4. Press and hold the Direction Button ( , ) to move the corresponding axis.

 Note
Safety area does not apply in virtual mode.

Execute based on World Coordinates

To move the robot based on World Coordinates, follow these steps:

1. Select the Task tab on the Jog screen.

2. Select the display coordinates to be used as World Coordinates and select World as the reference point of
the task coordinates.

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3. Select World Coordinates to move.

4. Press and hold the Direction Button ( , ) to move the corresponding axis.

Execute based on Robot Tool

To move the robot based on the robot tool, follow these steps:

1. Select the Task tab on the Jog screen.

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2. Select Base or World as the display coordinates and set the Tool based on the reference point of the task
coordinates.

3. Select the Tool Coordinates to move.

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4. 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).

Movement Screen
The robot can be moved by target angle/coordinates on the Move screen. If the coordinates the robot must
move to are known or if the robot must be moved up to coordinates in decimal points, it is possible to move the
robot by entering coordinates.

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No. Item Description

1 Joint It configures the reference coordinate to use when moving the robot with a jog.

2 Task It configures the reference angle to use when moving the robot with a jog.

3 Reference Point It configures the reference point to align the task coordinate.
Setting
• Base: It configures the task coordinate based on the robot base.
• World: Sets task coordinates based on the set World Coordinates.
• Tool: It configures the task coordinate based on the tool installed on the
end of the robot’s six-axis.

4 Manual Mode It configures the robot’s movement speed in manual mode. The speed can be
Speed adjusted by dragging the slider pointer.
If the slider pointer is at 100%, the corresponding maximum joint speed on the
Move tab is 30 deg/s, and the maximum task speed is 250 mm/s. The speed
influences the jog and button operation speed.

Moving with Angle Setting

To move the robot at a specific angle, follow these steps:

1. Select the Move tab and select the Joint tab.

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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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Move with Base Reference Coordinates

To move the robot based on base coordinates, follow these steps:

1. Select the Move tab and select the Task tab.

2. Select Base as the display coordinates and select the Base tab.
3. Configure the pose to move with reference to the base.
4. Tap and hold the Move to Corresponding Pose button to go to the set coordinate.

Move with World Coordinates Reference Coordinates

To move the robot based on World Coordinates, follow these steps:

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1. Select the Move tab and select the Task tab.

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 coordinate.

Move with Tool Reference Coordinates

To move the robot based on tool coordinates, follow these steps:

1. Select the Move tab and select the Task tab.

2. Select the Tool tab.
3. Configure the pose to move with reference to the tool.
4. Tap and hold the Move to Corresponding Pose button to go to the set coordinate.

Align Screen
The robot's alignment reference can be set on the Align screen.

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No. Item Description

1 Basic Alignment It aligns the TCP based on the Base/World axis and target direction.

2 Align with Target Aligns the TCP with the target.

3 Align with Workcell Item Aligns the TCP with Workcell item.

Alignment based on Base Axis/World Axis

When the work item is positioned in the Base/World axis direction of the robot, it is possible to align the TCP on
the workpiece before workpiece teaching. The teaching pose can be configured in line with the Base/World
Coordinates axis, making it is easy to specify a teaching pose. To perform teaching after locking the pose, use
the plane or line locked direct teaching function with "Cockpit" buttons.

To align the robot TCP based on the base axis, follow these steps:

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1. Select the Align tab and select the Basic Alignment tab.

2. Select the reference coordinates for alignment.

3. Select the reference tool axis.

4. Select the alignment direction.

5. Tap and hold the Align Axis button to align the axis.

Go to Home
Moves the robot to the default home position or the user home position configured in Settings on the main
menu.

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1. Select the Align tab and select the Basic Alignment tab.
2. Tap and hold the “Home Position” button to move the robot to the home position.

Alignment based on Target

This a useful function if the workpiece is aligned with the TCP in an axis direction for workpiece teaching. To
perform teaching after locking the pose, use the plane or line locked direct teaching function with cockpit
buttons.

To align the robot TCP based on target, follow these steps:

1. Select the Align tab and select Parallel To Taget tab.

2. Select the reference coordinates for alignment.

3. Select the tool axis to align.

4. Move the robot to the desired position and tap Point 1.

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5. Tap the Save Pose button of Point 1.

• Point 2 and Point 3 are set in the same way. When settings are complete, a virtual vector area is set
based on the three points.

6. (Optional) To set the TCP direction and position together, press the "toggle" button of Point 4 , move the
robot to the desired position and tap the "Save Pose" button.
7. Tap and hold the Align Axis button to align the axis.
• Place the 6-axis head 150 mm above the target in the Z-axis direction.

Alignment based on Workcell Items

Aligns the robot TCP based on the Workcell item.

1. Select the Align screen and select the Parallel To Workcell Items tab.
2. Select the desired item from the Workcell Item.

3. Tap and hold the Align Axis button to align the axis.

 Note
The sorting directions for Alignment based on Target(p. 334) and Alignment based on Workcell
Items(p. 335) are determined according to whether the teaching sequence of three points taught in the
Workcell Item was clockwise or counter clockwise. [Refer to Figure below]

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Jog Plus (Jog+)

Using Jog+ allows you to use the jog feature simultaneously while performing different work. This can be used
when precise movement to the target point is required during robot teaching.

Jog Plus can be activated in the following ways.

1. Press the jog button for more than 1 second in the main menu at the bottom of the screen.

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2. The Jog Plus screen is activated.

3. Jog Plus can be deactivated by pressing the ‘X’ button.

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No. Item Description

1 Current robot Displays the robot pose based on the set display coordinates.
pose

2 Manual Mode Configures the robot movement speed in manual mode. The speed can be
Speed adjusted by dragging the slider pointer.
If the slider pointer is at 100%, the corresponding maximum joint speed on the
Jog tab will be 30 deg/s, and the maximum task speed will be 250 mm/s. This
speed influences the speed controlled by the jog and movement buttons.

3 Reference Point It configures the reference point to align the task coordinate.
Setting
• Base: It configures the task coordinate based on the robot base.
• World: Sets task coordinates based on the set World Coordinates.
• Tool: It configures the task coordinate based on the tool installed on the
end of the robot’s six-axis.

4 Select Axis Selects the axis to move.

• Joint Tab: Select one axis among J1 - J6.
• Task Tab: Select one axis among X - Rz.

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No. Item Description

5 Select Increment • Enters a number regarding how much the selected axis is to be moved.

6 Move – Button If the button is held down, the selected axis is moved in the - direction in
accordance with the increment location.

7 Move – Button If the button is held down, the selected axis is moved in the + direction in
accordance with the increment location.

8 Force Monitoring Displays the occurring external force based on the selected coordinate system.

9 TCP Setting: Sets TTCP.

10 Tool Weight Sets the tool Weight.

Indicator

11 Change Jog+ Changes the Jog+ location to the top or bottom of the screen.
location

5.9.2 Hand-Guiding Operation

The user can change the robot’s pose by directly moving the robot. Use the Hand-guiding button on the teach
pendant or use the cockpit located on joint J6 to change the robot’s pose.

 Caution
• Before entering the robot’s operation range, press the Hand-guiding button on the teaching
pendant one or two times to make sure that the robot does not move when no external force is
applied.
• If a tool is installed on the tool flange, configure the tool weight on the Workcell Manager and
Jog screens on the teach pendant before changing the robot pose. If the Hand-guiding button is
pressed without configuring the tool weigh, the robot may move abruptly.
• When using tools whose center of gravity are far away from the flange too much (400 mm or
more), the robot can generate unstable vibrations. In such cases, operate the robot manually
using the jog function rather than with Hand-guiding.

Teach Pendant Hand-Guiding Button

The user can change the robot’s pose while holding down the Hand-guiding button located on the back of the
teaching pendant.

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 Note
• By default, the Hand-guiding button can only be used in Manual mode, and it cannot be used in
Auto mode when the task programs of Task Builder and Task Writer are operating.
• However, if the robot is set to the Hand-guiding Ready state with the Hand Guide command of
the Task Writer, the button can be used even in Auto mode.

Cockpit Button (five buttons)

The user can change the robot’s pose while holding down the Hand-guiding button or custom button on the
cockpit.

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No. Item Description

1 Hand-Guiding Button This button can be used to adjust or change the robot’s
pose.

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No. Item Description

2,5 User Setting Button This button can modify the robot’s pose by entering a
pose according to a lock condition corresponding to a
mode.
• Axis Lock : Changes the pose according to the Z-
axis of the tool coordinates

• Surface Lock : Changes the pose according to the

X-Y surface of the tool coordinates

• Point Lock : Changes the angle only from the

reference point of the tool coordinates

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No. Item Description

• Angle Lock: Changes the position only with the

current TCP angle locked

For more information about the settings, refer to

“Cockpit Setting(p. 398).”

3 Cancel Button Deletes the most recently saved pose.

4 Save Pose Button Saves the current robot pose. For more information, refer
to “Skill Command Work Point Setting with Cockpit
Buttons(p. 377)".

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Cockpit Button (six buttons)

No. Item Description

1 Hand-Guiding Button This button can be used to adjust or change the robot’s
pose.

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No. Item Description

2,3 User Setting Button This button can modify the robot’s pose by entering a
pose according to a lock condition corresponding to a
mode.
• Axis Lock: Changes the pose according to the Z-
axis of the tool coordinates

• Surface Lock: Changes the pose according to the

X-Y surface of the tool coordinates

• Point Lock: Changes the angle only from the

reference point of the tool coordinates

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No. Item Description

• Angle Lock: Changes the position only with the

current TCP angle locked

For more information about the settings, refer to

“Cockpit Setting(p. 398)"

4 Save Pose Button Saves the current robot pose. For more information, refer
to “Skill Command Work Point Setting with Cockpit
Buttons(p. 377)”

5 One Line Up Moves the Focus displayed on the screen one line up

6 One Line Down Moves the Focus displayed on the screen one line down

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 Note – Cockpit Setting Change

• The hand-guiding button constraints motion button settings require 2 seconds

to be modified..
• Pressing the Save Pose button on the Skill Setting screen will automatically move the focus to
the next pose.
• The cancel button can only be used in the Skill Setting window that manages multi-poses.

 Caution
• A Series models without FTS (A0509, A0912) cannot use fixed motion.
• A Series models with FTS (A0509S, A0912S) are capable of using fixed motion

• Fixed motion relies on the FTS attached to the tip of the robot; therefore, it is essential to attach
the tool and for the robot to grip it as it moves. Moving the robot while holding the body may
not trigger a reaction from the robot.
• For details on the functional limits of each robot series, please refer to ”Functional Limits of
each Robot Series(p. 266)”.

Clamping Escape by Cockpit

Clamping Escape function can only be used when it is enabled at “Cockpit Setting(p. 398)”.

Clamping Escape function can be enabled with and buttons for 5 cockpit buttons, and with and
buttons for 6 cockpit buttons.
Clamping Escape function can be used with 2 paths on the Teach Pendant screen.

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1. Entering from Servo Off status > Enters in Backdrive Handguiding Mode.

2. Entering from Interrupted status > Enters in Recovery Handguiding Mode.

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5.9.3 Safety Recovery Mode

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

• 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 such
cases, 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 predefined values
(which go beyond the normal operation angle limit) for packaging.

Using Software Recovery Mode

To use the software recovery mode, follow these steps:

1. Tap the Safety Recovery button in the Status window.

2. Tap each joint button on the right side of the Software Recovery screen, and use and button to

set the position. Or press the , and buttons of the Cockpit to adjust the joint angle by direct
teaching.
• For more information about the cockpit buttons, refer to Cockpit Button (five buttons)(p. 340) or
Cockpit Button (six buttons)(p. 344).

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• 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.

 Caution
Software recovery mode cannot be used when the joint angle limit exceeds 3 degrees.

Packaging Mode Setting

To configure the packaging mode, follow these steps:

1. Tap the Safety Recovery button in the Status window.

2. Select the Packaging Mode tab.

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3. Tap the Packaging Mode toggle button to enable Packaging Mode.

4. Tap the Go to Packaging Pose button.

• The robot automatically moves to the set packaging pose.
• To release the packaging pose, tap the Release Packaging Pose button to move the robot to home
position, then tap the Packaging Mode toggle button to disable packaging mode.

5.9.4 Backdrive Mode

Backdrive allows the robot joint control with only the brake and without power driving the motor. This function
is used when the robot cannot return to normal with Safety Recovery mode or Hand-guiding. With Backdrive
mode, the user can engage or disengage the brake of each joint.

The process of setting Backdrive mode is as follows:

1. Tap the Status button on the main menu and tap the Backdrive
• If the Backdrive button is not enabled, press and release the Emergency Stop button or press the
Servo Off button to enable it.

2. Tap the Start Backdrive Mode button on the Backdrive

• 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.

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• 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
Backdrive mode, 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 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
Backdrive mode.

5.10 Automatic Robot Operation

This section describes how to operate the robot automatically. Robot tasks can be programmed, simulated and
executed using the Task Builder or Task Writer.

For task programming samples of motion, force/compliance control, and skill, refer to Step 4. Create Task
Program(p. 134).

5.10.1 Robot Teaching and Execution

In order to use the robot in the user’s process, the robot space, end effector, machine tools and peripherals
must be configured in the Workcell Manager first. When Workcell Manager setting is complete, create a task
program using Task Builder or Task Writer, and execute it.

Task Builder displays commands recommended for the peripherals registered using the Workcell Manager,
which allows the user to easily create and execute task programs. It also offers a custom code function which
can load and execute task programs which have been created based on the Programming Manual.

Task Writer uses DRL (Doosan Robot Language) to create and execute programs suited for the user’s process,
and it also features a Custom Code function where the user can load and execute task programs created by
referring to the Programming Manual.

For more information about the Workcell Manager, refer to “ Utilizing Workcell Manager(p. 284) “; for more
information about Task Builder, refer to “ Task Builder(p. 353) ”; and for details on Task Writer, refer to “Task
Writer(p. 385)” For more information about the Doosan Robot Language, see the separate Programming
manual85

85 https://in-manual.doosanrobotics.com/display/Programming

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 Note
• When teaching a robot, execute teaching using conditions identical to the actual operation
(tool and workpiece weight).
• When the robot is swapped, or when task execution condition (tool and workpiece weight) or
the pose change, teaching deviation may occur. In such case, re-teaching is recommended.
• If the robot model is swapped, it is recommended that you create a new task program and
execute teaching.

 Caution
Make sure to perform a risk assessment before teaching and operating the robot. Doosan Robotics is not
responsible for any consequences due to operating the robot without proper risk assessment.

5.10.2 Task Builder

After registering and configuring all Workcell items in the Workcell Manager, a program to execute the robot
task must be created using commands or skills.

With Task Builder, the user can create a new task, enter skills or commands, or create tasks using templates
recommended by the system. For a detailed list of skills, commands and templates, refer to the manual
provided separately. For a list of skills, commands and templates, refer to the separate Reference Manual
provided.

To use Task Builder, tap Task Builder on the main menu.

Task Management

Create New Task

To create a new task, follow these steps:

1. Tap New on the initial screen of Task Builder.

• If a task is being edited, tap the Menu button and tap New.
2. Select a Workcell item from the task to create and tap the > button to move the selected item to the list.
3. After selecting a Workcell item, tap Next.
4. Enter the name of the new task program in the File Name field.
5. Tap the Confirm button.

When a new task is created, the task edit screen is displayed. For more information on how to edit a task, refer
to “Edit Task(p. 357)”.

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Template
A template is a bundle of skills that compose a work procedure used with a combination of Workcell items when
a particular Workcell item is registered. It is possible to easily create a task with the settings of skills already in
the template without worrying about the work process.

To create a new task using a template, follow these steps:

1. Tap the Template on the initial screen of Task Builder.

2. Select a template to use.
• Available templates vary according to the Workcell Items registered in the Workcell Manager. If no
Workcell Item is registered in the Workcell Manager, no template will be displayed.

3. Enter the name of the new task program in the File Name field.
4. Tap the Confirm button.

When a new task is created using a template, the task edit screen is displayed. For more information on how to
edit a task, refer to “Edit Task(p. 357)”

 Note
• Software version V2.7.3 does not support this function. The Template function will be updated
and offered in again in a new software version.

Save Task
To save an edited task, tap the Menu button and tap Save.

 Note
If the file is not saved for the first time, a confirmation window appears. Tap the Confirm button to save
it to an existing file.

Save Task As
To save the task as a different file, follow these steps:

1. Tap the "Menu" button and tap the “Save as” button.

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2. When the Save as window appears, enter the task name and tap the Confirm button.

When the save is complete, the Save Complete window appears.

Editing Workcell Items

To view a Workcell item selected from the current task or to select or remove an additional Workcell item,
please refer to the following:

1. Tap the Menu button and press the selected Workcell item.
2. From the current task, it is possible to add or remove new Workcell items in the current task or Workcell
list.

Save Task on External Storage Device

To save an opened task to an external storage device, follow these steps:

1. Connect an external storage device to the USB slot.

• Only external storage devices with FAT32 file systems can be used.
2. Tap the Menu button and tap Export.
3. After the Export window appears, select the drive of the external storage device and tap the Confirm
button.
4. When the Save as window appears, enter the task name and tap the Confirm button.

When the save is complete, the Save Complete window appears.

 Note
The file extension of the saved task file is “tb.”

Load Saved Tasks

To load a saved task, follow these steps:

1. Tap Saved Files on the initial screen of the Task Builder.

• If a task is being edited, tap the Menu button and tap Open.
2. Select a task to open from the file list and tap the Open button.
3. Searches for tasks in the file list can be made using the filter function.
• Search in latest, oldest, alphabetical order, and reverse order is possible.

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Delete Saved Tasks

To delete a saved task, follow these steps:

1. Tap Saved Files on the initial screen of the Task Builder.

• If a task is being edited, tap the Menu button and tap Open.
2. Select a task to delete from the file list and tap the "Delete" button.

Import Tasks on External Storage Devices

To import a task saved on an external storage device, follow these steps:

1. Connect the external storage device with the task file to the USB slot.
2. Tap Import on the initial screen of Task Builder.
3. Tap the Search button.

4. When the Search File window appears, select the task to import and tap the Confirm button.

5. Tap the Import button on the bottom right.

When the task file is saved on an external storage device, the Save Complete window appears.

To load a task file saved on the system, refer to “Load Saved Tasks(p. 355).”

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Edit Task
When a task is created, the user can add commands in the Task List, and when the Properties of the added
command are configured, the task program can be executed. The Task Builder screen offers an edit function for
adding/deleting/copying commands or changing the order of commands. The Task Builder commands consist
of motion commands, flow control and other commands, and skill commands.

 Note
When attempting to enter the Home, Workcell Manager or Task Writer screen, a message confirming
whether to save the program being edited is displayed. Jog and Settings screens are displayed as popup
windows. Refer to “Robot Mode and State(p. 16)”.

Edit Task Screen Configuration

The edit task screen of Task Builder is structured as follows:

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No. Item Description

1 Edit Command Tool • Multi Select: Select multiple commands.

(CTR) • Copy: Copies a command.
• Cut: Cuts a command.
• Paste: Pastes a copied or cut command.
• Delete: Deletes a command.
• Line Up: Moves a command up by a line.
• Line Down: Moves a command down by a line.
• Annotate: Annotates a command to exclude the corresponding
command from execution during task execution.

2 Task List Displays the task order and a list of commands added from the Command tab.
When a task is created, GlobalVariables, MainSub and EndMainSub
commands are added automatically.

3 Command Displays a list of commands to add to the Task List. Selecting a command will
add it to the Task List.

4 Property Check and edit the settings of the command added to the task list.

5 Variable Adds a system variable or tracks global and system variables used in a task.

6 Play Executes the task currently being configured in virtual/ream mode.

 Note
• GlobalVariables: The global variable and global pose of the task program can be entered in the
Property tab of GlobalVariables, and predefined global variables and global poses can be
used in the property screen of the command added in the task list.
• MainSub and EndMainSub: The command selected by the user is added to the bottom of the
MainSub, and commands are executed in the order of commands located at the bottom of
MainSub to commands located at the top of MainSub.
• 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.

Add Command
To add a command, follow these steps:

1. Select the location to add a command in the Task List.

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• A command is added to the next line of the selected location.

2. Select the command to add from the Command tab.

Delete Command
To delete a command, follow these steps:

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1. Select a command to delete and tap the Delete button in the command edit tools.
2. When a confirmation window appears, tap the Confirm button.

Paste command
To copy/cut and paste a command to the task list, follow these steps:

1. Select command to copy or cut.

2. Tap the Copy or Cut button on the command edit tool.
3. Select the location to paste the command.
• The copied/cut command is added to the next line of the selected location.
4. Tap the Paste button on the command edit tool.

Task Builder Commands

The user can create task programs using motion commands, flow control and other commands and skill
commands from Task Builder. For more information about commands, refer to the manual provided separately.

Motion Command
These are commands used to adjust or change the robot’s pose.

Move J Used to move the robot to the target joint coordinates.

Move L Used to move the robot along a line towards the target work space coordinate.

Move SX Used to move the robot along a curved line connecting multiple via points and target points
within the workspace.

Move SJ Used to move the robot along a curved line connecting multiple via points and target points
expressed as a joint coordinate.

Move C Used to move the robot along an arc composed of a current point, via point and target point.

Move B Used to move the robot along a line and arc connecting multiple via points and target points
within the workspace.

Move Spiral Used to move the robot along a path extending to the outer side from the center of a spiral.

Move Used to move the robot along a path repeated periodically.

Periodic

Move JX Used to move the robot to the target workspace coordinate and joint form. This does not
move along a straight line.

Stop Motion This is used to stop task execution.

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Flow Control and Other Commands

These can control the task flow through task standby, repeat, executing commands included in the task and
conditions.

If This is used to branch according to a specific condition during task execution

Else If This is used to branch according to a specific condition during task execution.

Repeat This is used to repeat the task command.

Continue This is used to return to the first command of a repetition statement (Repeat).

Break This is used to exit the repeat execution command (Repeat).

Exit This is used to end task execution.

Sub This is used to define a thread within the task.

Call Sub This is used to execute the defined thread.

Thread This is used to end thread execution.

Run Thread This is a command to define a thread within the task.

Kill Thread This is a command to execute a defined subtask.

Sub Task This is used to temporarily stop task execution.

Call Sub This is used to receive user input and save it in a variable during task execution.
Task

Wait This is used to control the Function button.

User Input This is used to branch according to a specific condition during task execution.
• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text, some content is omitted with
an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is not allowed.

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Watch This is used to repeat the task command.

Smart
Pendant

Force Control Command

The force of the robot can be controlled during task execution.

Compliance This is used to control Compliance during task execution.

Force This is used to control force during task execution.

Other Commands
There are commands that weigh the item and receive user input.

 Note
• Repeated usage of specific commands regarding the screen UI may result in reduced system
performance, less responsive screen UI, and abnormal operation of the program.
• It is not recommended to perform commands such as Set and Comment over 50 times per
second.

Comment This is used to save the user-designated information in a log during task execution.
• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text, some content is omitted
with an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is not allowed.

Custom Code This is used to insert and execute a DRL code during task execution.

Define This is used to define a variable during task execution.

Popup This is used to display a popup screen during task execution.

• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text, some content is omitted
with an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is not allowed.

Set This is used to execute various settings during task execution.

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Weight This is used to measure the weight during task execution and save it in a variable.
Measure

Wait Motion This is used to temporarily stop the robot after the previous motion command is complete.

GlobalVariabl This is used to add Global Variable.

es

Advanced Commands
There is a command to execute Hand-guiding.

Hand This is used to execute direct teaching during task execution.

Guide

Nudge This is used to delay task execution until Nudge (applying force to the robot) input.

Skill Commands
This is an application command preset for using Workcell Items on the robot. A series of commands, including
robot motion and I/O signals, are contained within a single skill. When a skill command is used, it is possible to
easily configure jobs related to the Workcell Item without complicated programming. To use command skills, it
is necessary to configure the work and related Workcell items. For more information about skill command list
and configurations, refer to the manual provided separately.

 Caution
• In models without Force Toque Sensors, Rx, Ry and Rz values of Weight Measure, Nudge,
Compliance commands, and A, B and C values of Force command are not supported.
• The Watch Smart Pendant command provides functions to control conditions using the
Function button of the Smart Pendant.

Deprecated Skill Command

Skill commands can be updated due to increased usability and additional motion improvements. If a skill
command is updated, the existing skill command becomes deprecated, and it cannot be added or edited.
Deprecated skill commands are displayed as dimmed icons.

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Deprecated skill commands cannot be added new, but can be used to view property information or be used in
the current task program.

In the property window of a deprecated skill command, the phrase “Deprecated Item” is displayed.

If a deprecated skill command is present, it is recommended to replace it with an updated skill command.

Setting and Applying Command Properties (Task Builder)

Tap a command list added to the task list to configure the properties of the command.

• The properties to configure vary according to the command.

• Some buttons in the command properties are enabled when related properties are entered.
• For user convenience, some properties are preconfigured with default values.

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• If necessary, comments for the command can be entered.

• The properties of a command are applied only after the Confirm button is tapped.

For more information about command properties, refer to the Programming manual86provided separately.

 Note
• In the case of SubTask, Sync Mode can be set. (available in V2.9 or higher)
• With Sync Mode, changes can be applied on Imported Task when saving.
• With Sync Mode, Import Task can be individually saved during exporting.
• With Sync Mode, Import Task can be individually saved during save as.

Motion Command Property Setting

Waypoint Setting
To configure the waypoint of a command, follow these steps:

86 https://in-manual.doosanrobotics.com/display/Programming

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1. Select the type (Absolute, Relative) of reference coordinate and coordinate value.

2. Either use the jog function or perform direct teaching to move the robot to the desired position.
3. Tap the Save Pose button to save the robot tool position.
• If necessary, define a variable using GlobalVariables or the Define command.

Speed Setting
The default speed is the speed configured for all areas. If the speed property is set as All Zones, it operates the
speed set in the MainSub property.

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Tap the Local tab and set the speed property to Local to individually designate the speed to be applied to
commands.

• The user can enter a speed and acceleration directly or use the slide bar to setting.
• The user can configure variables if necessary.

 Caution
• If a heavy (15 kg or more) tool is attached, it is recommended to set the acceleration value to
the same speed or less. (Speed:Acceleration Ratio = 1:1)
• If a high acceleration is set, the robot may vibrate during acceleration/deceleration.

 Note
• Beginning with V2.9 version, the acceleration unit is changed from m/s2 to mm/s2.
• From V2.9 version, the maximum speed available for task setting is 4000 mm/s .

Program Link Mode Setting

Execute the following lines simultaneously with the motion to control the flow of the program.

• Synchronized: Program flow is put on hold until the motion ends.

• Asynchronized: This executes the following line simultaneously with the motion. This can be utilized for
tasks such as verifying external signals or delivering output during motion.

Blending Mode Setting

This is a function to move smoothly to the next target point if a specific condition is satisfied without stopping
when the target point (waypoint) of the current motion command is reached.

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If the radius is set to 0, the motion blending function does not activate. So, if the robot reaches the target point
of the current command, it stops and then moves to the target point of the next motion command.

Overlap: When the robot reaches the set radius centering the target point of the motion command, it retains
the speed of the current command and moves to the target point of the next command.

Override: When the robot reaches the set radius centering the target point of the motion command, it
immediately reduces the speed of the current command and moves to the target point of the next command.

 Note
• If a skill is added or TCP setting performed on the command block that follows the blending
radius setting or if compliance control for force control is used, an error may occur during
execution. However, the blending motion is available if all options (toggle buttons) except for
approach pose/retract pose are disabled when a skill is added.

Multi-Segment (Waypoint) Setting

Depending on the motion command, it may be necessary to configure two or more waypoints. Each waypoint is
referred to as a segment, and adding a waypoint will add a line at the bottom of the command. The motion
commands requiring two or more segments are referred to as “multi-segment motion commands.”

The following is an example of configuring a Move SJ command.

1. Tap Add Pose in command properties.

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• Segment 1 is added to the bottom line of Move SJ command.

2. Either use the jog function or perform direct teaching to move the tool to the desired position.
3. Tap the Save Pose button in segment properties to save the robot tool position.
4. Repeat steps 1-3 to add segments.

Skill Command Property Setting

Understanding Basic Principles of Skill Commands

Skill commands are based on a few operation patterns.

For a robot to begin operation, the weight and tool center point (TCP) of the tool equipped on the robot must be
configured, and the basic operational pattern of the skill commands must have an approach pose and retract
pose that are perpendicular to the reference pose.

TCP Setting: Using an End Effector skill command will automatically change the TCP offset setting. The End
Effector skill command execution stage includes an offset setting suited for the TCP of the End Effector. If the
TCP offset changes, the Blending Motion function, which smoothly connects the previous motion command,
cannot be used.

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Move to Approach Pose: This is a point available to move to the Approach Pose. It is set in the Z direction from
the Approach Pose, and a different direction can also be selected. The Approach Distance entered is
automatically calculated for the Action Pose and moves to the corresponding point.

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Move to Reference Pose: This is the point on the workpiece where the End Effector performs work. To set
detailed coordinates other than the velocity and acceleration for the reference pose, press the button on the
right side of the reference pose. However, using the relative coordinates tab while setting the detailed motion
can cause a malfunction during skill execution, so make sure to use the absolute coordinates for reference point
teaching.

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Move to Retract Pose: This is the point to pick up the workpiece and move it safely to another point. It is the Z
direction from the Approach Pose, and a different direction can also be selected. The Retract Distance entered
is automatically calculated for the Action Pose and moves to the corresponding point.

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Move to Start Pose: If the End Effector execution target does not end with a single motion, there may be an
intermediate point and an end point, and the Action Start Pose is the point where the work starts. (i.e.
Door_OpenClose Skill - Start Pose)

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Move to End Pose: If the End Effector execution target does not end with a single motion, there may be an
intermediate point and an end point, and the Action End Pose is the point where the work ends. (i.e.
Door_OpenClose Skill – End Pose)

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Compliance Control and Contact Check

With the Compliance Control and Contact Sensing functions, which is the unique force control technology of
Doosan Robotics, it is possible to easily perform teaching without repeated operation for accurate point
designation since it allows position deviation within a tolerance range between the workpiece and surrounding
items during robot operation.

Compliance Control: If force is applied during Approach à, Action à and Retract, it allows deviation from the set
position with some level of buffering, like a spring.

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Contact Check: Based on the Contact Force and Contact Determination Range values entered, the function
detects contact with the target, stops at a corresponding position and activates the gripper to grab the target.

• This function must be used with Compliance Control Function. If Force is entered and Compliance Control
is not enabled, an error occurs.
• Contact is a function that detects contact with an external force, so the sensitivity of Collision Detection
must be set at low levels or Collision Detection must be disabled.
• Be careful when using this function, as excessive force can be generated when contacting the external
environment if the Compliance Control option stiffness (i.e., Z-direction) value is too large or the work
speed is too high. (It is necessary to make adjustments according to the situation by lowering the stiffness
value if the work speed is too high or by increasing the stiffness if work speed is too low.)

 Note
• If FTS is not installed when using the A-Series, the Contact Detection function cannot be used.
In this case, the use of compliance control is limited, and stiffness can be modified only in the
translation (X, Y, Z) direction.

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Skill Command Work Point Setting with Cockpit Buttons

Cockpit buttons can be used to configure the action pose.

For example, with the Pick skill command:

1. Add a skill command from Task Builder and tap the added skill command.
2. Perform direct teaching to the skill’s action pose to move the robot.
3. Press the Save Pose button on the cockpit.

 Note
Save Cockpit Pose is available from the Task Builder and Task Writer.

Execute Task Program

Provides descriptions of the play screen of Task Builder and screen configuration. The play screen offers the
function to priorly check robot motion by executing the task virtually.

 Note
• Before closing the simulator/robot, make sure to press the "stop" button ( ) to stop the
motion program.
• Moving to the Play tab disengages manual mode and engages Auto mode.
• When entering manual mode on the Play tab, go to the Command tab or Property tab before
moving to another menu.

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Virtual mode screen

The virtual mode screen of Task Builder is structured as follows:

No. Item Description

1 Real mode ( ) Sets the robot test play mode.

• Real mode: Operates an actual robot to test the task in the task
list.
• Virtual mode: Uses a simulator screen to test the task in the task
list.

2 Total time Displays the total time elapsed after the task execution.

3 Simulator Zooms into the simulated robot model.

Zoom-in button

4 Simulator Zooms out from the simulated robot model.

Zoom-out button

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No. Item Description

5 Rotate and pan button Rotate button : Rotates the simulation screen with the robot base as a
central axis.
Pan button : Moves the simulation screen horizontally and vertically.

6 Viewpoint button Sets viewpoints with the robot model as the control point.

7 Speed slider It sets the speed of the robot in a real or a virtual mode.

8 Stop button It stops the current task.

9 Execute/pause toggle It executes or pauses the work in the task list.

button

10 Time It displays the time spent on the corresponding command/skill.

Real Mode Screen: Information Message Tab

The real mode screen end effector information tab of Task Builder is structured as the following.

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Item Description

1 Real Mode It sets the robot test play mode.

• Real: It operates an actual robot to test the task in the task list.
• Virtual: It uses a simulator screen to test the task in the task list.

2 Total time It displays the total time elapsed after the task execution.

3 Total count It displays the total number of task executions.

4 Average execution It displays the average time spent to execute one cycle of the task in the task list.
time

5 Information Screen It shifts between the robot information message screen, end effector information
Shift Tab screen and I/O information screen.
• Information Message Tab: It displays the information messages generated
during execution.
• End Effector Information Tab: It displays the robot tool center point, tool
weight and collision and force information.
• I/O Information Tab: It displays the I/O information of the controller and
flange.

6 Information It displays the time information of the displayed information message.

Message Time Area

7 Information Displays the information message.

Message Area

8 Speed slider It sets the speed of the robot in a real or a virtual mode.

9 Stop button It stops the current task.

10 Play/Pause Toggle It executes or pauses the work in the task list.

Button

11 Time It displays the time spent on the corresponding command/skill.

Real Mode Screen: End Effector Information tab

The real mode screen end effector information tab of Task Builder is structured as follows:

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No. Item Description

1 Real Mode ( ) Sets the robot test play mode.

• Real mode: Operates an actual robot to test the task in the task list.
• Virtual mode: Uses a simulator screen to test the task in the task
list.

2 Total time Displays the total time elapsed after the task execution.

3 Total count Displays the total number of task executions.

4 Average execution time Displays the average time spent to execute one cycle of the task in the task
list.

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No. Item Description

5 Information Screen You can switch between the robot information message screen, end-
Shift Tab effector information screen, and input/output information screen.
• Information Messages tab: Displays information messages that
occur during playback.
• End Effector Information Tab: Displays the center point of the robot
tool, the tool weight and the collision and force information.
• I/O Information Tab: Displays the I/O information of the controller
and the flange.

6 Tool center point Displays the tool center point information configured through the tool
information area center point and weight configuration functions of the set TCP command
or the jog.

7 Tool weight Displays the tool weight information configured through the tool center
information point and weight configuration functions of the set TCP command or the
jog.

8 Collision information Displays the collision sensitivity value set for the area where the robot is
area currently positioned.

9 Force information area It displays the force information occurring in the Base, World, User, and
Reference coordinate systems. The Reference coordinate system displays
force based on the coordinate system information applied to the robot.

10 Speed slider It sets the speed of the robot in a real or a virtual mode.

11 Stop button It stops the current task.

12 Execute/pause toggle It executes or pauses the work in the task list.

button

13 Time It displays the time spent on the corresponding command/skill.

 Caution
• Before executing a task, execute the task in virtual mode to check whether the task operates as
intended.
• It is recommended to test the robot program by designating temporary waypoints outside
another machine’s work space. Doosan Robotics is not responsible for damages that occur due
to programming error or robot malfunctioning, as well as damage to the equipment.
• The emergency stop button is located on the teach pendant. In an emergency situation, press
the emergency stop button to stop the robot.

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• In the case of models without Force Toque Sensor, the force (X, Y, Z) values are not monitored.

Real Mode Screen: I/O Information Tab

The real mode play screen end I/O information tab of Task Builder is structured as follows:

No Item Description
.

1 Real mode ( ) Sets the robot test play mode.

• Real mode: Operates an actual robot to test the task in the task list.
• Virtual mode: Uses a simulator screen to test the task in the task list.

2 Total time Displays the total time elapsed after the task execution.

3 Total count Displays the total number of task executions.

4 Average execution time Displays the average time spent to execute one cycle of the task in the task
list.

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No Item Description
.

5 Information Screen You can switch between the robot information message screen, end-
Shift Tab effector information screen, and input/output information screen.
• Information Messages tab: Displays information messages that
occur during playback.
• End Effector Information Tab: Displays the center point of the robot
tool, the tool weight and the collision and force information.
• I/O Information Tab: Displays the I/O information of the controller
and the flange.

6 Controller digital I/O Displays the controller digital I/O signals of the current task.
signal
• If the digital signal is a high signal, the icon is displayed in sky blue.
• If the digital signal is a low signal, the icon is displayed in gray.

7 Flange digital I/O signal Displays the flange digital I/O signals of the current task.
• If the digital signal is a high signal, the icon is displayed in sky blue.
• If the digital signal is a low signal, the icon is displayed in gray.

8 Speed slider It sets the speed of the robot in a real or a virtual mode.

9 Stop button It stops the current task.

10 Execute/pause toggle It executes or pauses the work in the task list.

button

11 Time It displays the time spent on the corresponding command/skill.

 Caution
I/O information screen in A-Series only monitors 2 flange I/Os.

Execute Task
It is possible to test the task being created by executing it. To execute a task, follow these steps:

1. Select the Play tab.

2. Tap the Real Mode ( ) button.

3. Drag the speed slider to set the robot speed.
4. Press to execute the task.

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• Pause ( ): Pauses the task currently being executed.

• Stop ( ): Stops the task currently being executed.

 Note
• If Real mode is off, execution is made only in virtual mode where the robot is only operated in
the simulator.
• When Real mode is turned on, a status display showing the I/O status appears.
• When executing a task program in virtual mode, it is only executed once regardless of the
setting, and diverging through I/O signal within the task does not execute properly.
• Tool center position and tool weight information on the play information screen are only
displayed properly when the Set TCP command is executed or the tool center position and
weight of the jog are set.
• Commands that had issues occur during program execution are highlighted with orange.

5.10.3 Task Writer

Task Writer is intended for advanced users familiar with program coding. It allows complex motions that cannot
be executed with basic commands to be created using DRL (Doosan Robot Language) and Custom Code, which
allows the user to load and execute programs created or saved on an external storage device.

Simplified, convenient functions are only available in Task Builder, and advanced custom code functions are
only available with the Task Writer.

Tap the Task Writer ( ) button to go to the Task Writer screen.

Task Management

Create New Task

To create a new task, follow these steps:

1. Tap "New" on the main Task Writer screen.

• If a task is being edited, tap the Menu button and tap New.
2. Enter the name of the new task program in the File Name field.
3. Tap the Confirm button.

When a new task is created, the task edit screen is displayed. For more information on how to edit a task, refer
to “ Edit Task Program(p. 389)”.

Save Task
To save an edited task, tap the Menu button and tap Save.

 Note

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If the file is not saved for the first time, a confirmation window appears. Tap the Confirm button to save
it to an existing file.

Save Task As
To save a task as different file, follow these steps:

1. Tap the "Menu" button and tap the “Save as” button.
2. When the Save as window appears, enter the task name and tap the Confirm button.

When the save is complete, the Save Complete window appears.

Save Task on External Storage Device

To save an opened task as on an external storage device, follow these steps:

1. Connect an external storage device to the USB slot.

• Only external storage devices with FAT32 file systems can be used.
2. Tap the Menu button and tap Export.
3. After the Export window appears, select the drive of the external storage device and tap the Confirm
button.
4. When the Save as window appears, enter the task name and tap the Confirm button.

When the save is complete, the Save Complete window appears.

 Note
The file extension of the saved task file is “tw”.

Load Saved Tasks

To load a saved task, follow these steps:

1. Tap Saved Files on the main screen of Task Writer.

• If a task is being edited, tap the Menu button and tap Open.
2. Select a task to open from the file list and tap the Open button.
3. Searches for tasks in the file list can be made using the filter function.

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• Search in latest, oldest, alphabetical order, and reverse order is possible.

 Note
Even if the model where the task was created is different, the task can be loaded on any M-Series model.
However, the M-Series and A-Series are not mutually compatible.

Delete Saved Tasks

To delete a saved task, follow these steps:

1. Tap Saved Files on the main screen of Task Writer.

• If a task is being edited, tap the Menu button and tap Open.
2. Select a task to delete from the file list and tap the "Delete" button.

Import Tasks on External Storage Devices

To import a task saved on an external storage device, follow these steps:

1. Connect the external storage device with the task file to the USB slot.
2. Tap the Import on the Task Writer initial screen.
3. Tap the Search button.

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4. When the Search File window appears, select the task to import and tap the Confirm button.

5. Tap the Import button on the bottom right.

When the task file is saved on an external storage device, the Save Complete window appears.

To load a task file saved on the system, refer to “ Load Saved Tasks(p. 396) ”

Export Task to External Storage Device

To export a task to an external storage device, follow these steps:

1. Connect the external storage device with the task file to the USB slot.
2. Tap the Export on the Task Writer initial screen.

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3. The export popup window appears. Select the external drive to export the task and tap the
"Confirm" button.

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

Edit Task Program

The edit screen of Task Writer is identical to that of the edit screen of Task Builder, and the editing features are
also identical.

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For more information about the edit task program, refer to “ Edit Task(p. 357)”.

 Note
• GlobalVariables: The global variable and global pose of the task program can be entered in the
Property tab of GlobalVariables, and predefined global variables and global poses can be
used in the property screen of the command added in the task list. 10 all-area variables and all-
area poses can be added to each GlobalVariables command.
• CustomCode: The user can enter DRL Codes or load predefined programs saved in an external
storage device.
• MainSub and EndMainSub: The command selected by the user is added to the bottom of the
MainSub, and commands are executed in the order of commands located at the bottom of
MainSub to commands located at the top of MainSub.
• Thread: Jobs to be performed simultaneously with MainSub can be added as a Thread, and
when a Thread is added, a command can be added below the Thread. Motion commands
cannot be added to a Thread.
• The Line Monitoring option under Thread command > Property screen is used to allow/
disallow focus transfer to commands inside the thread block upon program execution.

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Task Writer Command

The commands available in the Task Writer are Motion Commands, Flow Control and Other Commands, and
Advanced Commands.

Motion Command
These are commands used to adjust or change the robot’s pose.

Move J Used to move the robot to the target joint coordinates.

Move L Used to move the robot along a line towards the target work space coordinate.

Move SX Used to move the robot along a curved line connecting multiple via points and target points
within the workspace.

Move SJ Used to move the robot along a curved line connecting multiple via points and target points
expressed as a joint coordinate.

Move C Used to move the robot along an arc composed of a current point, via point and target
point.

Move B Used to move the robot along a line and arc connecting multiple via points and target
points within the workspace.

Move Spiral Used to move the robot along a path extending to the outer side from the center of a spiral.

Move Periodic Used to move the robot along a path repeated periodically.

Move JX Used to move the robot to the target workspace coordinate and joint form. This does not
move along a straight line.

Stop Motion This is used to stop task execution.

Flow Control and Other Commands

These can control the task flow through task standby, repeat, executing commands included in the task and
conditions.

If This is used to branch according to a specific condition during task execution.

Else If This is used to branch according to a specific condition during task execution.

Repeat This is used to repeat the task command.

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Continue This is used to return to the first command of a repetition statement (Repeat).

Break This is used to exit the repeat execution command (Repeat).

Exit This is used to end task execution.

Sub This is used to define a subroutine within the task.

Call Sub This is used to execute the defined subroutine.

Thread This is used to define a thread within the task.

Run Thread This is used to execute the defined thread.

Kill Thread This is used to end thread execution.

Sub Task This is a command to define a thread within the task.

Call Sub Task This is a command to execute a defined subtask.

Wait This is used to temporarily stop task execution.

User Input This is used to receive user input and save it in a variable during task execution.
• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text, some content is omitted
with an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is not allowed.

Watch Smart This is used to control the Function button.

Pendant

Force Control Command

The force of the robot can be controlled during task execution.

Compliance This is used to control Compliance during task execution.

Force This is used to control force during task execution.

Other Commands
There are commands that weigh the item and receive user input.

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 Note
• Repeated usage of specific commands regarding the screen UI may result in reduced system
performance, less responsive screen UI, and abnormal operation of the program.
• It is not recommended to perform commands such as Set and Comment over 50 times per
second.

Comment This is used to save the user-designated information in a log during

task execution.
• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text,
some content is omitted with an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is
not allowed.

Custom Code This is used to insert and execute a DRL code during task execution.

Define This is used to define a variable during task execution.

Popup This is used to display a popup screen during task execution.

• Messages are limited to within 256 bytes.
• It is recommended that the text be concise. For long text,
some content is omitted with an ellipsis (…).
• Formatting code such as newline (\n) or carriage return (\r) is
not allowed.

Set This is used to execute various settings during task execution.

Weight Measure This is used to measure the weight during task execution and save it
in a variable.

Wait Motion This is used to temporarily stop the robot after the previous motion
command is complete.

GlobalVariables This is used to add a Global Variable.

Advanced Commands
There is a command to execute Hand-guiding.

Hand Guide This is used to execute direct teaching during task execution.

Nudge This is used to delay task execution until Nudge (applying force to the robot) input.

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 Caution
• In models without Force Toque Sensors, Rx, Ry and Rz values of Weight Measure, Nudge,
Compliance commands, and A, B and C values of Force command are not supported.
• The Watch Smart Pendant command provides functions to control conditions using the
Function button of the Smart Pendant

Setting and Applying Command Properties

Configuring and applying the commands in Task Writer are identical to those of Task Builder(Setting and
Applying Command Properties (Task Builder)(p. 364)).

Execute Task Program

The execution of task programs in Task Writer is identical to that of Task Builder.(Execute Task Program(p. 377))

Debug Screen
The debug mode of the Task Writer screen is structured as follows:

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No. Item Description

1 Debug Sets the robot test play debug mode.

2 Break Point Button Sets a break point in a command. When the command is reached after
executing the task, the robot does not execute the task and stops.

3 Skip Point Button Sets a skip point in a command. When the command is reached after
executing the task, the robot does not execute the task.

4 Play/Restart Toggle Executes the task in debug mode. If the break point is reached during task
Button execution or if the task is paused, the button changes to the Restart button.

5 Pause Button Temporarily pauses the current task execution.

6 Stop button Suspends the current task.

7 Stage by Stage Executes one command at a time while the task is paused.

5.10.4 Task Execution and Stopping

Tap the Execute button on the Home screen to view, execute or stop tasks.

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N Item Description
o.

1 Start/Pause Task The total number of lines of the task program is displayed.
Tap the Execute button to execute or pause the task.

2 Task The command the robot is executing repeatedly can be checked.

Information Check

3 Log Message Displays log information of the task.

4 Task Execution Displays task repetition count, play time and average one cycle execution time.
Information and Tap the Stop button to stop the current task.
Stop

5.10.5 Load Saved Tasks

Tasks saved on the system can be loaded from the Home screen.

1. Tap the menu button on the top left of the Home screen.
2. Tap Open.
• A list of tasks saved on the system is displayed on the screen right.
3. Tap the task to execute from the list.
• Moves to the screen to check and execute tasks.

 Note
At first start-up of the system, the list is empty.

5.11 Environment Setting

To configure environment settings related to the operation setting, tap the Settings button in the main menu.

 Note
• When the Task Builder and Task Writer screens are changed to the Play tab, the Settings
button on the main menu is disabled.

5.11.1 Language Setting

To set the UI language of the operation program, follow these steps:

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1. Tap the Setting button on the main menu and select Local > Language.
2. Select the language from the language list and tap the Confirm button.
3. To change the SI units to U.S. units, select “English (INCH)” and tap the Confirm button.
• The units displayed on the program change to U.S. units.
4. Restart the system.

5.11.2 Date and Time Setting

To set the date, follow these steps:

1. Tap the Settings button on the main menu and select Date and Time > Date.
2. Set the date and tap the Confirm button.

To set the time, follow these steps:

1. Tap the Settings button on the main menu and select Date and Time > Time.
2. Set the time and tap the Confirm button.

 Note
• The log time of the logs saved in the system maintain the existing date and time even after
changing the date and time of the system.
• If the system is accessed via Windows, the Date and Time setting function is not available, and
the system automatically synchronizes with the date and time of Windows.

5.11.3 Robot Setting

Configures the default pose and cockpit related functions.

Robot Home Position Setting

1. Tap the Settings button on the main menu and select Robot Settings > Home Position.
2. Select the User Home Position.
• Selecting Default Home Position sets the default.
3. Move the robot to the desired position and tap the Save Pose button.
4. Tap the Confirm button.

 Warning
• When a robot or joint of a robot is being swapped, User Home Position must be reset using the
teach pendant.

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• The User Home Position setting of DART Studio is not reflected on the teach pendant. If the
User Home Position is set using DART Studio and then used with the teach pendant, the User
Home Position must be reset.

Cockpit Setting
1. Tap the Settings button on the main menu and select Robot Settings > Cockpit.
2. Select individual functions for Button 1 and Button 2 from the drop-down list.
3. To activate Clamping Escape, press and hold Button 1 and Button 2 simultaneously for 2 seconds.
4. When selection is completed, tap the Confirm button.

 Note
The values of Button 1 and Button 2 must be different.

Remote Control Setting

1. Select the Remote Control menu in the Setting > Robot Setup menu.
• The current setting information is displayed in the setting management window.
2. Set the Use Remote Control button to ON.
• If the system is restarted with remote control set to ON, it boots up in remote control mode.
3. Enter the output signal, input signal and default load task values.

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• If the input signal is not set, settings cannot be made. In the Workcell Manager > Safety I/O >
Input tab, Edit > Select Port > Configure Remote Control Enable(H).

4. Tap the Confirm button when complete.

• This completes the environment settings for remote control.
5. To allow remote control using an external device, tap the Start Remote Control button to engage remote
control mode.
• Information on tasks to execute from the external device appears.
• Motion inputs from the external device can only be executed if a green signal is displayed on the
“Enable Remote Control” button.
• If a red signal is displayed on the Enable Remote Control button, input an enable signal from the
external device.

 Note
• If the Emergency Stop or Protective Stop occurs in Remote Control Mode, it is handled as
follows:
a. Emergency Stop: An emergency stop popup is displayed. After removing the cause of
emergency stop - pulling or twist the emergency stop switch for reset, the popup closes
automatically.
b. Protective Stop causing the transition to Servo Off state: A red protective stop popup is
displayed. If Servo On signal is entered after removing the cause of protective stop, the
robot servo drives turn on and the popup closes automatically.
c. Protective Stop causing the transition to Interrupted state: A yellow protective stop
popup is displayed. If Interlock Reset signal is entered after removing the cause of
protective stop, the robot state chages to normal standby state – Manual Standby, Auto

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Standby, or HGC standby. For the safety violations where the cause of them cannot be
removed without moving the robot, Clamping Escape by cockpit can be used.
d. For details on status for each mode, please refer to “ Status and Flange LED Color for
Each Mode(p. 17)”.

• It is possible to turn ON/OFF the power of the robot by remote control setting

1. Tap the Settings button of the main menu and select Remote Control under Robot Settings.
2. Select the dedicated input port for remote control to use Power On or Power Off function.

Smart Pendant Setting

 Caution
Smart Pendant setting is a screen to set the functions provided as options of A-Series.

1. Select the Smart Pendant Setting menu in the Robot Setting menu.
• The current setting information is displayed in the setting management window.
2. Set the Use Smart Pendant toggle to ON.
• If the system is restarted with the use Smart Pendant set to ON, it boots up in remote control mode.
3. Select Task
• It is the task to be used in Smart Pendant mode.

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4. Click the Confirm button and click the Start Smart Pendant button.
• The Smart Pendant dashboard screen is displayed and commands using Smart Pendant become
available.
When the Smart Pendant mode launches from Windows, the teach pendant screen also changes to
the Smart Pendant screen.

No. Item Description

1 Task Monitoring Tab It is the tab that displays monitoring information necessary for
executing the input signal and Task of Smart Pendant.

2 Log Tab It is the tab that displays the log messages collected during task
execution.

3 Smart Pendant Enable Signal When the Smart Pendant is connected to the controller, it is
displayed as Checked (green).

4 Homming Signal When the homming button of the Smart Pendant is pressed, the
indicator is displayed as Checked (green).

5 Servo On/Off Signal Displays the Servo On/Off status

6 Function Button Signal Indicators of P1-P4 press status

7 Current Task Area displaying the task to be used by the Smart Pendant

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No. Item Description

8 Total Time Total Task play time

9 Total Count Count of Task loops

10 Average Cycle Time Average play time of each task cycle

11 TCP Indicator TCP information used by the current task

12 Tool Weight Indicator Tool Weight information used by the current task

13 Tool Shape Indicator Tool Shape information used by the current task

14 Collision Collision threshold information

15 Force Force information

16 Digital / Flange I/O Digital / Flange I/O information

information

17 Close Button to close the Smart Pendant mode.

 Note
If the Emergency Stop or Protective Stop occurs in Smart Pendant Mode, it is handled as follows:
1. Emergency Stop: An emergency stop popup is displayed. After removing the cause of
emergency stop - pulling or twist the emergency stop switch for reset, the popup closes
automatically.
2. Protective Stop causing the transition to Servo Off state: A red protective stop popup is
displayed. If the Smart Pendant’s Servo On button is pushed after removing the cause of
protective stop, the robot servo drives turn on and the popup closes automatically.
3. Protective Stop causing the transition to Interrupted state: A yellow protective stop popup is
displayed. If Smart Pendant’s Reset button is pushed after removing the cause of protective
stop, the robot state chages to normal standby state – Manual Standby, Auto Standby, or HGC
standby. For the safety violations where the cause of them cannot be removed without moving
the robot, Clamping Escape by cockpit can be used.
4. For details on status for each mode, please refer to “Status and Flange LED Color for Each
Mode(p. 17)”.

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Keyboard Setting
If a wired or wireless keyboard is used, soft keyboard option of each operating environment can be set.

5.11.4 Change and Disable Password

A password is required to enter a setting with a lock icon ( ).

To change or disable the password of settings with a lock icon, follow these steps:

1. Select Password > Safety Password in the Settings menu.

2. Enter the current password of the program and tap the Confirm button.
• The initial system password is admin.

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• To disable the password, tap the Password Lock button and disable.

3. Tap the Confirm button.

 Note
• If the user forgets the password, the system must perform factory reset.
• Even if the password lock is disabled, rebooting the system will enable password lock.

5.11.5 User Role Setting

Accessible menus can be limited according to user roles.

1. Select Password > Use User Role in the Settings menu.

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• The User Role On/Off, description of user role and Change Password buttons appear in the settings
management window.

2. To enable/disable a user role, press the User Role On/Off button.

• A screen asking for the administrator password is displayed.
• When user authority is changed from Off to On, the screen returns to the Home screen and changes
to operator role.
3. Enter the new password in the Change Password field and tap the Confirm button.
• Password change settings are complete.
4. To change a user role, tap the User Role button.

 Note
• The initial administrator password is admin.
• The initial teaching engineer password is admin.
• If the User Role button is disabled, it operates in the same way as an administrator role.

5.11.6 Network Setting

To set the network, follow these steps:

1. Tap the Settings button of the main menu and select Network.
2. Select the Controller or Modbus tab.

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• Controller: Ethernet network settings for external connections such as the controller or Modbus
can be configured.
• Modbus: Additional settings for user-defined Modbus including Modbus TCP/RTU and additional
settings for Preset Modbus used by some Workcell items can be set.
3. Select the network method and tap the Confirm button.

 Caution
To be able to set and use DHCP in A-Series models, it is necessary to purchase an external router and
configure a network.

User-defined Modbus Support Function Code

The Modbus Master of Doosan Robotics can be used for I/O expansion or data exchanges through connections
with other devices.

The Function Codes supported by Doosan Robotics are as follows:

Function Code Description

1 Read Coils

2 Read Discrete Inputs

3 Read Multiple Holding Registers

4 Read Input Registers

5 Write Single Coil

6 Write Single Holding Register

15 Multiple Coils (FC15)

16 Multiple Holding Registers (FC16)

• DRL (set_modbus_outputs()) is configured to internally call FC5 and FC6 multiple times.

 Note
• Up to five Modbus Slave devices can be connected.
• Each device can register up to 50 registers.

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• The total number of registers cannot exceed 100.

Register User-defined Modbus

Modbus communication with random devices can be performed using a user-defined Modbus.

1. Select the Modbus menu from Settings > Network and select the Add TCP Slave or Add RTU
Slave button.
2. The Modbus slave will be added to the Modbus Slave List.
3. To set the Modbus slave and to add/delete signals, select the View button.
4. In the case of a TCP Slave, enter the IP address of the slave device and set the Port (default: 502).
5. In the case of a RTU Slave, select the Serial Port to perform communication, and set Communication
Speed, Parity Bit, Data Bit and Stop Bit. If the serial port has been added using a USB port, select the
Search button to search the new device and select the Serial Port.
6. If a signal must be added, press the Add Signal button.
7. If a signal must be deleted, press the Delete Signal (-) button.
8. Set the Signal Type, Signal Address, Signal Name and Slave ID for the newly added signal.
• In the case of a TCP Slave, the default Slave ID is 255. However, if Advanced Settings is checked, the
Slave ID can be modified (1-247).
• In the case of Signal Type Multiple Coils for FC 15 and Multiple Holding Registers for FC 16, select
the Edit button to add multiple signals by entering the Signal Name, Start Address and Count. An
individual signal name is assigned automatically by Signal Name.
9. Select the Settings button.
10. Modbus registration begins after selecting the Settings button, and a message is displayed if the process
fails. In such case, check the connection with the Modbus device and the Modbus Slave settings.
11. If the Modbus has been successfully registered, the input and output of the registered signal can be
checked.
• An output motion can be performed by entering a value and selecting the → button.

Register Preset Modbus

Modbus communication with a specific Workcell item provided by Doosan Robotics can be performed using
Preset Modbus. In such case, register a Preset Modbus and set the signal in Workcell Manager.

1. Select the Modbus menu from Settings > Network and select the Add TCP Slave or Add RTU
Slave button.
2. A Modbus Slave is added to the Modbus Slave List and performs Modbus registration, and a message is
displayed if the process fails.
3. To check the status of the signal registered to the Modbus Slave, select the View If the registration process
fails, check the connection with the device and select the Settings button.
4. If the Modbus has been successfully registered, the input and output of the registered signal can be
checked from the Details screen.
• An output motion can be performed by entering a value and selecting the → button.

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 Note
• The Modbus RTU function is provided through DRL.
• DRL used for ModbusRTU Master only added add_modbus_rtu_signal().
• Other DRLs are used in the same way, except for add_modbus_signal(), which is used to add
signals.
• DRL (serial_get_count(), serial_get_info()) are added to check serial port information.
• For more detailed description about DRL, refer to the Programming Manual.

5.11.7 System Update

The current robot system version can be checked, and the system can be updated using an external storage
device.

Unified Update
This provides new unified updates. The unified update file updates the entire system including the user
software, robot inverter and safe mode.

1. Connect the external storage device with the update file to the controller.
2. Tap the Settings of the main menu, and select Robot Update > Update.
3. Tap the Update button on the teach pendant and controller.
4. When the update window appears, tap the Search button.
5. Select the update file from the searched list.
6. Tap the Check File button.
• If fthe file check is successful, Version to Install below will display version information, and the
Next button will be enabled.
• If the file check fails, examine the file for any issues.
7. Tap the Next button.
8. Read the Cautions and Terms and Conditions for Agreement, and tap the checkbox below to enable the
Agree and Proceed button.
9. Tap the Agree and Proceed button.
10. Tap the Start Update button.
• Once the update starts, the progress and update log can be viewed from this screen.
11. When the update is complete, restart the system. The controller must be restarted to ensure proper
operation.
12. If the update fails, tap the Restart Update button to reinstall or the Restore Previous Version button to
restore the version before the update.
13. Restarting the system without a successful update will activate App Recovery Mode. Reinstall the update
using Unified Update in App Recovery Mode to complete the update. The update must be successfully
installed to ensure proper operation.

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 Caution
• Do not remove the external storage device or turn off the system during the update. This may
damage the robot or cause malfunctions.
• If both Update Restart and Restore Previous Version fail, reboot and enter Recovery Mode to
restore the system. For more information, refer to Application Recovery Mode Screen(p. 417)

 Note
• If the system is accessed via Windows, only controller software update is performed. Updates
for the program from Windows must be performed separately.
• In addition, if the update is performed on Windows, the update cannot be performed in Servo
On mode due to safety reasons. Perform the update with in Servo Off mode.

System Restore
Restores the robot system to a specific version the user chooses.

1. Select Robot Update > System Restore in the Setting menu.

• The last five versions installed on the robot system are displayed.
• The current version is displayed with the Radio button selected.
2. Select the Radio button of the version to be restored.
• The Restore button is enabled.
3. Press the Restore button.
4. Restart the system when restore is complete.

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 Note
• If the system is accessed via Windows, the system restore function is not available.

 Version : A Series
• If one of the following issues occurs on an A Series product after System Restore, please refer to
"Friction Calibration(p. 413)" to perform friction calibration.

1. If an issue makes direct teaching control difficult

• If direct teaching does not operate properly even the tool weight and weight center
point settings are correct
• If the robot moves too fast or applies too much force when direct teaching is attempted
• If control in a specific direction is difficult when direct teaching is attempted
• If collision detection occurs frequently while the collision sensitivity is set to the default
setting
2. If error “2.9015” occurs sporadically in the teach pendant
• Error 2.9015: The external force of the robot tip has exceeded the safe range.

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5.11.8 Check and Enter Robot License Code

The serial number and model number of the robot system can be checked, and the product license can be
entered or checked. The serial number, model number and license are used for customer support services.

To enter a new license code, follow these steps:

1. Tap the Settings button on the main menu and select License.
2. If the license requires an update, enter the newly issued license code and restart the system.

5.11.9 Check Log

Checking Log Messages

To check the log message of the robot, tap the Settings button and select Log.

Checking Real-time Log Messages During Program Execution

The Run screen under Home supports real-time logging. You can see logs of the Alarm, Warning, Message, and
Comment types in real time as they occur during program execution. Each type can be toggled on/off and a
maximum of 100 can be checked at once.

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Extract Log
Logs created during robot operation can be saved on a USB storage media. Search can be made in units of 1
week.

5.11.10 Factory Reset

Factory reset is a function used to delete all user data and logs saved on the robot. When factory reset is
performed, the database, log files, Workcell Items and task files are deleted.

1. Tap the Setting button on the main and select Factory Reset.
2. Tap the Reset button.
3. When reset is complete, restart the system.

Delete Log
Delete log is a function that deletes all logs saved on the robot.

How to delete Logs

• Tap the Setting button on the main menu and select Factory Reset.
• Tap the Delte button.
• Deletion status can be checked in System Log Items.

License Type and Factory Reset Range according to Vision Connection

Vision License Vision Details Remarks

Status Connection
Status

O O Factory reset including Vision data Vision Category of

WCM screen retained

O X A Vision Connection-related popup* is

displayed, and no factory reset

X O Factory reset excluding Vision data

X X Factory reset excluding Vision data

 Popup Message
• English: Please connect the vision camera and proceed with factory reset.

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5.11.11 Screen Saver Mode Setting

If the teach pendant is not used for a set amount of time, the system enters screen saver mode.

• The robot can enter screen saver mode even if it is operating in Auto mode.
• Tap the Return button on the screen saver to return to the previous screen.

To configure the screen saver mode, follow these steps:

1. Tap the Settings button on the main menu and select Screen Saver.
2. Screen saver use can be configured in the Screen Saver Setting screen.
• The default setting is Use Screen Saver.

3. This configures the time required to elapse before entering the screen saver mode.
• Default: 5 minutes
• Minimum Time: 1 minute
• Maximum Time: 24 hours (1440 minutes)
4. Tap the Confirm button.

5.11.12 Idle Servo Off

If the robot is idle for a certain amount of time, the robot is automatically set to the Safety Off state. The default
value is 5 minutes, and the time can be changed to a time the user prefers

5.11.13 Friction Calibration

This function automatically calibrates the friction created from the robot axis in A-Series.

Friction calibration is performed during initial manufacturing, and it can be performed again when maintenance
is needed. Friction calibration must be done after the robot is sufficiently warmed up to ensure optimized direct
teaching and collision detection performance. Performing 3-4 minutes of all-axis movement from a cold start is
recommended for robot warm-up. If the robot movement is too fast, if the supporting force is excessive during
direct teaching, or if frequent collision detection occurs at default collision detection sensitivity, it is
recommended that friction calibration be performed again.

1. Tap the Settings button on the main menu and select Friction Calibration.
2. Select the axis to calibrate friction.
3. Enter the friction calibration start position according to the angle limit range of start position of each axis.
4. Enter the range to measure from the friction calibration start position according to the angle limit range.
• It is recommended to include the robot operation range as much as possible.
5. Tap the Auto Calculate button.
6. Tap the Motion Check button of the auto measure motion check popup window.

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• Auto measure motion check is performed in sequential order of axes selected after the entire axis
moves to the start position.
• Auto measure motion check stops when the stop button is tapped.
7. After auto measure motion check, tap the Auto Calculate button of the auto calculate popup window.
• Auto calculate is performed in sequential order of axes selected after the entire axis moves to the
start position.
• Auto calculate stops when the stop button is tapped.
8. When the Auto Calculate of selected axes is complete, the friction calibration result is displayed on each
axis.
• Successful results are displayed in green and failed results are displayed in gray.
9. Tap the Confirm button.

 Note
Instances of reapplying friction calibration are as follows:
1. If more than one joint module is replaced
2. If direct teaching does not operate properly even when the tool weight and weight center point
settings are correct

 Warning
• Friction calibration must be performed with a temperature of at least 40 ℃ (313 K) or higher
throughout warm-up for each axis of the robot. Doosan Robotics does not assume
responsibility for any robot motion problems or various other issues caused by failing to
comply with this condition.

5.11.14 KT Smart Factory Setting Screen

This screen sets the KT Smart Factory function.

1. Tap the Settings button and select KT Smart Factory.

2. Enter values according to the validation of each item.
3. Items required are IP address, port value, Device ID, Device Password, Gateway ID and transmission
frequency.
4. Pressing the Confirm button applies the entered values.

5.11.15 Backup & Restore

Some of the data used by the teach pendant can be backed up and restored.

The name of the backup file must consist of at most 20 alphanumeric characters. The only special character
allowed is the underscore, and the name cannot have blank space at the front or back.

The file extension for add-on backups is append, and the file extension for overwrite backups is replaced.

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Restore is only available for the same software version and the same robot model.

When a backup file including a Workcell item is restored, all Workcell items that can be disabled are disabled.

If the item to be restored is restored to a robot without the corresponding license, restoration is performed
normally, but any items with licenses are not displayed.

In the case of an add-on restore, if the backup file contains a Workcell item, Task and Modbus created at the
same time, each of them is overwritten with the item, Task and Modbus to be restored. If an identical system
parameter name is present, the restore process cannot proceed.

If the maximum allowed number of additions for working space, tool weight, tool shape, watermark, user
coordinates, end effector and system parameter items are exceeded, the restore process is stopped.

Item Maximum Number of Additions

Workspace 10 for each item

Tool Weight 50

Tool Shape 50

User Coordinates 20

End Effector 50

System Parameters 50

If a task with an identical name is present on the Teach Pendant to be restored during task add-on restore, the
serial number of the robot used to backup the task is added to the name of the restored task.

If an item from one of the categories below is included in the overwrite restore, the items in each of the existing
categories are deleted and the back up data is restored.

Category Range

Workspace All working spaces (space limits, collaborative zones, collision avoidance zones,
collision sensitivity reduction zones, tool orientation limit zones, user defined zones)

Tool Weight All tool weights

Tool Shape All tool shapes

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Robot Installation All robot installation poses

Pose

User Coordinates All user coordinates

End Effector All end effectors

Machine All machines

Peripherals All peripherals (Smart Vision Module and welding condition are excluded)

System Parameters All system parameters

Task Builder All Task Builder tasks

Task Writer All Task Writer tasks

Modbus All Modbus Slaves

Workcell items from other companies downloaded through Doosan Mate can only be restored to robot models
that the corresponding item was created.

Items that support all and individual data add-ons are as follows:

• Items registered in Workcell Manager (excluding items with default settings in which additional
registrations cannot be performed)
• System Parameters
• Task Builder Task file
• Task Writer Task file
• Setting (Modbus)

Items that support all and individual data overwriting are as follows:

• Items registered in Workcell Manager

• System Parameters
• Task Builder Task file
• Task Writer Task file
• Settings (cockpit, remote control, smart pendant (A Series), Modbus, screen saver, idle servo off)

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To backup data, follow these steps:

1. Tap the Settings button and select Backup & Restore.

2. Choose whether to backup data for the purpose of add-on or overwriting.
3. (For backing up all data) Select the Backup All Data checkbox and press the Backup button.
4. (For backing up individual data) Select checkboxes for data items for backup and press the Backup button.
5. Select the directory to save.

To restore data, follow these steps:

1. Tap the Settings button and select Backup & Restore.

2. Press the Restore menu.
3. Choose whether to restore data with add-on or with overwriting.
4. Press the Restore button.
5. Select the file to be restored from the Select File pop-ups.
6. When restore is complete, restart the system.

5.11.16 Workcell & Skill Installation and Removal

The list of external skills and workcells installed on the Teach Pendant can be viewed.

Information provided in the list includes name, manufacturer, version and status.

Installed skills and workcells can be deleted.

When deleting an installed skill or workcell, detailed information of the item to be deleted is displayed.

New items can be installed and executed.

Multiple items can be selected to be installed.

Rebooting after installation is required to ensure proper execution.

If a skill or workcell used by a task are deleted, the corresponding task cannot be opened.

5.12 Appendix. Troubleshooting Guide

5.12.1 Application Recovery Mode Screen

If a software error is detected during robot booting, the system enters Application Recovery Mode. This screen
offers functions to preserve and restore application data. This screen is only available in English.

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Using Application Recovery Mode Functions

N Item Description
o
.

1 Robot Serial This displays the serial number of the connected robot.
Number

2 View Error Log This displays the log of errors that triggered recovery mode.

3 Export System This executes a function to extract the system log. The log from 2 days prior to the
Log present day is extracted.

4 Database This executes a function to back up the database of the connected robot. Data backed
Backup up using this function can only be restored with the Restore Database function on this
screen.

5 Reset Database This executes a function to reset the database of the connected robot to its default
state.

6 Restore This restores the database using the file created with the Database Backup function
Database on this screen.

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N Item Description
o
.

7 Delete 3rd Party This deletes 3rd party Workcell Items installed via “워크셀 & Skill 설치 및 제거(p. 417)”
Workcell Item

8 Restore System This restores the application to a specific version. It works the same as “System
Restore(p. 409)” function.

9 Unified Update If the update fails, the system can be re-installed using the “Unified
Update(p. 408)” function.

1 Restart This restarts the controller.

0

5.12.2 Series Compatibility Error Screen

The controller stores the execution information of the connected robot. This information varies depending on
the robot series, so if a robot of a different series is connected, the series compatibility error screen will be
displayed. This screen provides the options of saving the current execution information or resetting the
data. This screen is only available in English.

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Series Compatibility Error Screen Functions

No. Item Description

1 Controller S/W This displays the robot series information for the execution
data saved in the controller.

2 Robot This displays information on the newly connected robot

series.

3 Database Backup This executes a function to back up the database of the

connected controller. The backup file can be used to restore
data through “Backup & Restore(p. 414)”

4 Reset Database This executes a function to reset the database of the

connected controller. To connect a robot of a seriesdifferent
from the current controller information, a reset must be
executed.

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Robot Series Swap

To use a robot from a different series, data back up and initialization must be executed according to the on-
screen instructions. Controller software versions higher than V2.7 support all robot series (M, H, and A series).
However, a single controller cannot be used with an M, H and A series robot combination.

For example, if a controller with a software version higher than V2.7 is being used with an H series robot,
disconnecting the existing robot and connecting an M series robot will cause a compatibility error screen to be
displayed. Follow the on-screen instructions to execute data backup and initialization of H series, then turn the
controller power off and on to allow an M series robot to be connected. Compatibility of each software version
is as follows:

Series Compatibility of each Software Version

Software Description Series Swap Support

Version

M2.x.x.x M Series-only Software Not compatible.

A2.5.x A Series-only Software Not compatible.

V2.6.2 H Series-only Software Not compatible

V2.6.3 Integrated Software (H/M Series) (Cannot be installed Can be swapped between H and
on A Series) M series

V2.7+ Integrated Software (A/H/M Series) Can be swapped between H and

M series

 Note
• A/M/H series have different connector structures for robot and controller connection, so the
robot series cannot be swapped with each other.
• The compatibility error screen is not displayed if a different robot of the same series is
connected.

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 Caution
• Take caution after swapping to a different model of the same series, as Safety Parameters, TCP,
Tool Weight and various user defined settings are maintained.
• Robot series compatibility may vary depending on the software version.
• For a detailed change history of each software version, refer to the Release Note at RobotLAB
(https://robotlab.doosanrobotics.com).

5.12.3 Releasing Stop due to Space Limit and Zone Violations

When Servo On is attempted after the robot stopped due to space limit and zone violations, Servo On is set with
the following alarm messages displayed.

If the robot stopped due to space limit and zone violations, use the Status > Safety Recovery > Software
Recovery function to move the robot to a safe area. The following sample showcases how to move the robot to
a safe area using the software recovery function.

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1. The robot moves freely in the work zone during work.

• Robot Status: Servo On
• LED: Cyan
2. The robot stops when it exits the work zone.
• Robot Status: Servo Off
• LED: Red
3. Set Servo On through Status > Safety Recovery > Software Safety Recovery, and move the robot to a
safe area.
• Robot Status: Servo On (Recovery Mode)
• LED: Yellow
4. Exit the safety recovery screen and press Status > Servo On, and the robot will resume normal operation.
• Robot Status: Servo On
• LED: Cyan

For more information about software safety recovery, refer to Using Software Recovery Mode(p. 349).

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5.13 Appendix. Smart Pendant (A Series)

5.13.1 Functions of Smart Pendant

Item Function Description

Power on/ - With the Smart Pendant turned off, press and hold the button to turn on the system.
off
- When the Smart Pendant is powered on and the button is pressed once, the Robot, Device and
Function LEDs blink white. And when the button is pressed again, the power is turned off. When
the Robot, Device, and Function LEDs blink white, the Smart pendant returns to normal again if
no additional button input is available for more than 5 seconds.
- Press and hold the button to force shutdown while the Smart Pendant is powered on.

Robot LED Robot LED is used to indicate the robot status by displaying the same color as the robot status
LED in Smart Pendant.

Device LED This LED tells you whether or not to enter the Smart Pendant Mode.
- Smart Pendant Mode not entered : Red
- Smart Pendant Mode entered : White

Function When the four Function Buttons (F1 through F4) are pressed, the LED turns on to indicate the
LED pressed state.

Function(F1 The button that applies the digital signal allows the user to use the input of the button for the
~F4) desired role on the DRL.

Home - The button for performing homing and mastering that operates only in manual mode.
- You have to keep the button pressed to perform the function. In this case LED will turn on.
When homing and mastering are completed or the button is released, LED will turn off.
- If the robot requires homing and mastering based on its own judgment, the LED on the home
button flashes to inform you that action is required.

Servo This button turns on Servo when Servo Off, and turns off the Servo when Servo On. Transition
to Servo Off is only available when the robot stops because of the safety reason. The LED turns
on when Servo On, and the LED turns off when Servo Off.

Auto This button switches between auto mode and manual mode.
The LED turns on in auto mode and the LED turns off in manual mode.

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Item Function Description

Play This button start or resume the task program set to the robot. The button can only be operated
in AUTO mode.
The LED turns on during the task program running and turns off if the program is stopped or
paused.
If you push this button when the task program is stopped, robot runs the program from the
beginning. If you push this button when the program is paused, robot resumes the program
from the moment it paused.

Stop This is a button that shuts down a running program. The LED turns on whenever the proram is
stopped.

Pause The button that pauses the running task program. While the program is paused, the LED is
always on.

Reset If Protective Stop that cause the transition to Interrupted state occurred, a yellow protective
stop popup is displayed on teach pendant.
If this button is pushed after removing the cause of protective stop, the robot state chages to
normal standby state – Manual Standby, Auto Standby, or HGC standby. In this case, unless
reset, robot operation is impossible except for the jog or hand guide in safe recovery mode.

5.13.2 Smart Pendant Robot LED Color

The Smart Pendant Flange LED uses the same color as the robot status LED. Refer to “Status and Flange LED
Color for Each Mode(p. 17)” for the LED colors of each robot status.

5.14 Appendix. DART Platform Installation Requirement (minimum,

recommended)
The minimum installation requirements for the DART Platform are as follows:

• OS: Windows 7 Enterprise Service pack1 (64 bit) or higher

• CPU: 2.20 GHz or higher
• GPU: GMA 4500 and GMA HD (Intel) or equivalent specification
• Memory: 4 GB
• Java SDK: jdk1.8.0_152 (64 bit)
• Screen resolution: 1280 x 800

The recommended installation requirements for the DART Platform are as follows:

• OS: Windows 10 Enterprise (64 bit)

• CPU: 2.80 GHz or higher
• GPU: GMA 4500 higher and GMA HD (Intel) higher
• Memory: 16 GB

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• Java SDK: jdk1.8.0_152 (64 bit)

• Screen resolution: 1280 x 800

5.15 Appendix. Welding Work Overview

5.15.1 EtherNet/IP Interface Welding Machine Connection Example

5.15.2 Flow of Welding Work Utilizing Doosan Robots

The starting process of the robot-welder connection for welding automation will lead to repeated welding work
performed by welding personnel in the following general order. In this flow, the initial connection and set-up is
sometimes performed by a professional system integrator (SI), and welding condition set-up requires
specialized knowledge regarding welding. In particular, electrical insulation and organized surroundings are
essential conditions to be confirmed prior to welding work. The right side of the flow chart below shows the
functional menus offered by Doosan Robotics’ welding function. Please use the simplified image for easy
reference regarding welding features. Please refer to the welding technical note provided by the Doosan
Robotics Robot LAB for detailed explanations regarding each menu.

 Note
• Please refer to the welding technical note provided by the Doosan Robotics Robot LAB for
detailed explanations regarding each menu.
• [Robot LAB] https://robotlab.doosanrobotics.com

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