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Main

User manual (V2.12.4)

PART 1. Safety Manual

Manual Indication Conventions
Safety Symbols
General Instructions
Precautions for Use
Product Usage
Risk Assessment
Potential Risks

Robot Mode and State

Manual Mode
Automatic Mode
Other Mode
Status and Flange LED Color for Each Mode

Product Warranty and Responsibility

Safety Function

Safety-rated Stop Subfunction

Safety-rated Stop Function

Emergency Stop
Protective Stop

Safety-rated Monitoring Function
Safety-rated I/O

Safety Function Settings

Robot Limits
Safety I/O
Safety Stop Modes
Nudge
Space Limit
Zone

Other Safety Measures
Validity and Responsibility
Disclaimer

Declaration and Certification

Europe Declaration of Incorporation (Original)
Europe Machinery Directive Attestation of Conformity
Europe EMC Directive Attestation of Conformity
U.S. NRTL Certification (U.S., CANADA)
Functional Safety Certification
Voluntary Safety Confirmation Declaration (KCs)

Stop Distance and Stop Time

Measurement Methods and Conditions

Stop Category
Measurement Poses and Conditions

A0509(S) Stop Category

A0509(S) Stop Category 0
A0509(S) Stop Category 1

A0912(S) Stop Category

A0912(S) Stop Category 0
A0912(S) Stop Category 1

Upper/Lower Threshold Range and Default Value of Safety Parameters

PART 2. Starting Up the Robot

Step 1. Robot Installation

Remove packing
Connect cable to the controller
Secure the robot base
Connect power to controller
Position controller
Power-up controller
Disengage emergency stop button
Disengage packaging pose
Servo Off

Step 2. Tool Installation and I/O Testing

Installing the tool
Turn system power off
Connect wires
Turn system power on
Test controller and flange I/O

Step 3. Robot Operation and Setting

Learn how to engage/disengage Safety Stop
Manual Operation - Learn how to perform safety recovery/powerless motion
Manual Operation - Learn how to use jog
Manual Operation - Learn how to perform direct teaching
Disengage the Password Lock
Robot Setting - Set robot limits
Workcell Item - Add robot installation pose (Mount)
Workcell Item - Add Tool Weight
Workcell Item - Add Tool Shape
Workcell Item - Add End Effector
Workcell Item - Add Space Limit
Robot Setting - Set World Coordinates
Learn about Workcell Manager and Workcell Item

Step 4. Create Task Program

Start programming
Understand compliance/force control
Utilize Sub/Call Sub
Try Compliance command samples
Understand robot motion
Try the sample MoveJ/MoveL commands
Understand robot motion properties
Skill - Try Pick & Place samples
Utilize Step Run
Try force command samples
Register and manage variables
Utilize debugging
Function of Operator Intervention

PART 3. Installation Manual

Product Introduction

Component Check
Names and functions of each part
System Configuration
Product Specifications, General

Robot Specifications

Axis Specification
Robot operating space
Max. Payload within operating space
Tool Center Point (TCP)
Basic specifications

Nameplate and Label

Installation

Cautions during Installation

Lifting points for transport and installation

Installation Environment

Installation Location Check
Robot Work Area Check

Hardware Installation

Securing the Robot
Connecting the Manipulator and Controller
Connecting the Controller and Emergency Stop Button
Connecting the Controller, and Smart Pendant
Connecting the Controller and Teach Pendant
Routing of Manipulator Cable and Teach Pendant Cable
Supplying Power to the Controller
Connecting the Robot and Tool

Emergency Stop Button Setting Switch
Power On/Off Controller Switch

Interface

Flange I/O

Flange Digital Output Specifications
Flange Digital Input Specifications
Flange Analog Input Specifications

Connecting Controller I/O

Setting the Terminal Block for Contact Input (TBSFT)
Setting the Digital I/O Power Terminal (TBPWR)
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
Setting Analog I/O Terminal (TBAIO)
Setting Encoder Input Terminal (TBEN1, TBEN2)

Network Connection

Connecting External Devices - Vision Sensor
Connecting External Device – DART Platform
ModbusTCP Slave Setup
Expanded Protocol - PROFINET IO Device(pnio device) Setup
Expanded Protocol - EtherNet/IP Adapter(EIP adapter) Setup
Using Expanded Protocol
Using General Purpose Register(GPR)

Transportation

Caution during Transportation
Package Specitications
Pose for Robot Transportation

Maintenance
Disposal and Environment

PART 4. User Manual

System Power On/Off

System Booting

Program screen configuration

Home Screen Overview
Status window
Status Display Area
Work Screen Area
Main Menu

Understanding the robot

What is Euler Angle A, B, C?
What is Singularity?
Functional Limits of each Robot Series

Servo On

I/O and Communication

I/O Status Check

Controller/Flange Digital Input Check
Controller/Flange Analog Input Check
Controller/Flange Digital Output Setting
Controller/Flange Analog Output Setting

I/O Test
Modbus Test
Status > Slave Monitoring

What is a Workcell Item?

Add Workcell Item
Deprecated Workcell Item
Unavailable Workcell Items

Utilizing Workcell Manager

Robot Safety Setting

Robot Setting

Tool Shape Setting
World Coordinates Setting
Normal I/O Setting
Safety I/O Setting
Safety Stop Modes Setting
Nudge Setting
User Coordinates Setting
System Variable Setting

Space Limit and Zone Settings Overview

Space Limit and Zone Shape
Space Limit Settings
Collaborative Zone Settings
Crushing Prevention Zone Settings
Collision Sensitivity Reduction Zone Settings
Tool Orientation Limit Zone Settings
Custom Zone Settings

Robot Limits Setting
Tool Weight Setting
Mount Setting

End Effector Setting

Grippers and Tools
End Effector I/O Signal Setting
End Effector I/O Testing
Tool Center Point (TCP) Setting
Tool Center Point Setting based on Other End Effectors

Machine Tool Setting

Peripheral Setting

Others
Vision

Tool Setting

Manual Robot Operation

Jog Function

Align Screen

Alignment based on Base Axis
Alignment based on Target
Alignment based on Workcell Items
Go to Home

Jog Plus (Jog+)

Jog Screen

Execute based on World Coordinates
Execute based on Robot Base
Execute based on Joint
Execute based on Robot Tool

Movement Screen

Move with Base Reference Coordinates
Move with World Coordinates Reference Coordinates
Move with Tool Reference Coordinates
Moving with Angle Setting

Safety Recovery Mode

Using Software Recovery Mode
Packaging Mode Setting

Backdrive Mode

Hand-Guiding Operation

Teach Pendant Hand-Guiding Button
Cockpit Button (five buttons)
Cockpit Button (six buttons)
Clamping Escape by Cockpit

Automatic Robot Operation

Robot Teaching and Execution

Task Builder

Task Management

Create New Task
Template
Save Task
Save Task As
Editing Workcell Items
Save Task on External Storage Device (Task Builder)
Load Saved Tasks
Delete Saved Tasks
Import Tasks on External Storage Devices 1

Edit Task

Edit Task Screen Configuration
Add Command
Delete Command
Paste command

Task Builder Commands

Deprecated Skill Command

Setting and Applying Command Properties (Task Builder)

Motion Command Property Setting

Waypoint Setting
Speed Setting
Program Link Mode Setting
Blending Mode Setting
Multi-Segment (Waypoint) Setting

Skill Command Property Setting

Understanding Basic Principles of Skill Commands
Compliance Control and Contact Check
Skill Command Work Point Setting with Cockpit Buttons

Execute Task Program

Virtual mode screen
Real Mode Screen: Information Message Tab
Real Mode Screen: End Effector Information tab
Real Mode Screen: I/O Information Tab
Execute Task

Task Writer

Task Management

Create New Task
Save Task
Save Task As
Save Task on External Storage Device (Task Writer)
Load Saved Tasks
Delete Saved Tasks
Import Tasks on External Storage Devices
Export Task to External Storage Device

Edit Task Program
Task Writer Command
Setting and Applying Command Properties
Execute Task Program
Debug Screen

Task Execution and Stopping
Load Saved Tasks

Environment Setting

Language Setting
Date and Time Setting

Robot Setting

Remote Control Setting
Robot Home Position Setting
Flange I/O Setting
Smart Pendant Setting
Keyboard Setting
Cockpit Setting (A0509S, A0912S)

Change and Disable Password
User Role Setting

Network Setting

User-defined Modbus Support Function Code
Register User-defined Modbus
Register Preset Modbus

System Update

Unified Update
System Restore

Check and Enter Robot License Code

Check Log

Checking Log Messages
Checking Real-time Log Messages During Program Execution
Extract Log

Factory Reset

Delete Log
License Type and Factory Reset Range according to Vision Connection

Screen Saver Mode Setting
Idle Servo Off
Backup & Restore
Friction Calibration
Workcell & Skill Installation and Removal
KT Smart Factory Setting Screen

Appendix

Appendix. System Specification

Manipulator

A0509(S)
A0912(S)

Controller

CS-03 (AC Controller)
CS-04 (DC Controller)

Emergency Stop Button

EMSB-01

Smart Pendant (Option)

SP-01

Teach pendant

TP-01

FTS(A0509S, A0912S only)

Appendix. DC Controller

DC Controller (CS-04)

Product Introduction (CS-04)
Installation (CS-04)

Appendix. Doosan Robot Allowable Torque

Doosan Robot Allowable Torque

Appendix. Troubleshooting Guide

Application Recovery Mode Screen

Series Compatibility Error Screen

Series Compatibility Error Screen Functions
Robot Series Swap

Releasing Stop due to Space Limit and Zone Violations

Appendix. Smart Pendant (A Series)
Appendix. Welding Work Overview
Appendix. DART Platform Installation Requirement (minimum, recommended)

Reference manual(V2.10)

워크셀 아이템

워크셀 아이템 개요

워크셀 아이템 공통 설정 옵션

엔드이펙터

그리퍼(Gripper)

복동식 그리퍼(Gripper DA (Double-Acting))
단동식 그리퍼(Gripper SA (Single-Acting))

툴(Tool)
스크류드라이버(Screwdriver: Tool Category)

작업기계

프레스 머신(Press Machine)
터닝 센터(Turning Center)
사출기(Molding Machine)

주변장치

Pallet
볼트 피더(Bold Feeder)

추가 제공 워크셀 아이템

공통 설정 옵션

Flange Serial 설정 하기

추가 워크셀 아이템 목록

Schmalz - FXCB
Schmalz – ECBPi (CobotPump)
Schunk - PGN
Schunk - Co-act EGP-C
Zimmer - GEP2000
Zimmer - HCR03
Robotiq - 2F-85
Robotiq - 2F-140
Robotiq - Hand-E
Robotiq - 3-Finger
Doosan - Lynx Series
Doosan - Puma Series
OnRobot RG2
OnRobot RG6
Zimmer_HCR-03-DIO
Dynabrade Robotic Sanders

테스크 프로그래밍 명령어 및 템플릿

스킬 명령어

스킬 명령어 개요
스킬 명령어의 기본 작동 패턴 이해하기
순응 제어와 접촉 감지 기능
스킬 공통 화면 정의

스킬 명령어 목록

Pick
Place
Insert
Polishing
Deburring
Gluing
Airblowing
EndTask
Door_OpenClose
INTLK_Pick
INTLK_Place
Bolting
PickBolt
Contact
Set_Digital_IO

태스크 템플릿

Part Handling
CNC Machine Tending
Press Machine Tending
Injection Molding Machine Tending
Screw Drive 템플릿
Gluing 템플릿
Deburring 템플릿
Polishing 템플릿
Insert 템플릿

Smart Vision Module

사용 전 주의사항 (SVM)

워크셀 매니저에서 설정하기

카메라 연결 테스트하기

카메라 연결
IP 주소 확인 및 카메라 테스트

비전 작업 > 비전작업 관리

비전 작업 생성하기
비전 작업 수정 및 삭제하기

비전 작업 > 카메라/이미지 설정

조명/노출/게인/초점 설정 값 저장 및 로딩하기
카메라 캘리브레이션하기

비전 작업 > 비전작업 설정

비전 도구의 티칭 영역 설정하기
비전 도구의 티칭 제한 영역 설정하기
위치 측정 도구 생성과 티칭 영역 설정하기
유무검사 도구 생성과 티칭 영역 설정하기
거리측정검사 도구 생성과 티칭 영역 설정하기
각도측정검사 도구 생성과 티칭 영역 설정
직경측정검사 도구 생성과 티칭 영역 설정하기

비전 작업 > 테스트

프로그래밍하기

Vision 명령어 설정 옵션
태스크 빌더: 스킬 명령어에서 비전 활용하기
태스크 라이터: 모션 명령어에서 비전 활용하기
Vision Skill: Vision Skill 설치하기
Vision Skill: Shoot Pose Skill 사용하기
Vision Skill: Landmark Skill 사용하기
Vision Skill: Barcode Skill 사용하기
Vision Skill: if문 활용하기

제품 사양

측정 거리
측정 물체의 크기 및 높이
측정 물체 및 배경

Conveyor Tracking

사용 전 주의사항

워크셀 매니저에서 설정하기(WCI)

External Encoder 설정

Encoder 채널 설정
A-B상 설정
Z상 설정
S상 설정
인버스 모드 설정
설정 확인

Conveyor Tracker 설정

통신 설정
기준좌표계 설정
속도 설정

프로그래밍하기 (TB/TW)

Conveyor Coordinates 프로그래밍하기
Conveyor Tracking 프로그래밍하기

기타 참고 사항

Pick & Place (1 Conveyor)
Pick & Place (2 Conveyor)
Multi 작업물 Handling

DART-Simulator Guide(V2.8.2)

DART Simulator란?

가상화 환경 설정하기

Windows 환경 설정하기
BIOS 환경 설정하기

Virtual Box 환경 설정하기

기본 설정
네트워크 브리지 설정

DART Simulator 실행하기
두산 로봇 시작하기
DART-Simulator에 DR3 설치하기

App Builder

알아두기

App Builder란?
Skill 이란?
WCI(Workcell Item) 란?

그리퍼 WCI&Skill 제작 튜토리얼 소개

그리퍼 WCI 생성하기

WCI 생성하기
WCI 편집하기(General Info)
WCI 설정하기(Workcell Item Setting)
WCI 저장하기

그리퍼 Skill 생성하기

Global Function 추가하기

CaloffsetPos()
MoveFn()
AppRet_Motion_v2()

Skill 생성하기
Skill 편집하기(General Info)
Skill 기획하기

Skill 설정하기(Skill Setting)

UI Component 추가하기

1) Reference Pose
2) Gripper Setting - Gripper Release
3) Gripper Setting - Gripper Wait Time
4) Gripper Setting - Set TCP (Option)
5) Approach/Retract Motion Setting - Distance
6) Approach/Retract Motion Setting - Velocity
7) Approach/Retract Motion Setting - Acceleration

DRL Component 추가하기

Skill 복사하기
Skill 저장하기

WCI/Skill 티치 펜던트에 설치하기

WCI/Skill를 DR3 파일로 추출하기
티치 펜던트에 WCI/Skill 설치 하기
WCI 등록 확인하기
Skill 등록 확인하기

AppBuilder 화면 및 기능 설명

Dashboard

Project

Project Manager

Function & Variable Writer

Global Function

Global Function 리스트
Global Function 생성 및 편집하기

Global Variable

Global Variable 리스트
Global Variable 생성 및 편집하기

Workcell Item Writer

Workcell Item 리스트

Workcell Item 생성 및 편집(General Info)

Workcell IO(Workcell Item Setting)
UI Component(Workcell Item Setting)

DRL Component(Workcell Item Setting)

DRL Component 상세 설정

Skill Writer

Skill Item 리스트
Skill Item 생성 및 편집(General Info)

UI Component(Skill Setting)

[Statement] Robot Model Selection
Accordion Control
Accordion Toggle Control
Button - Define DRL
Compliance Setting
Coordinate Select
Get Position
Global Loop Count Value Selection
Label
Line Edit
Radio Button Group
Text Edit(Long Line Edit)
Toggle Switch
Tool Weight Selection

DRL Component(Skill Setting)

Global Function Component
Global Variable Component
User Defined Workcell Item Action
User Function Component

예제

단동식 툴 WCI&Skill 제작하기

단동식 툴 Global Function

Sample Code - AppRet_Motion()
Sample Code - Calulate Offset()
Sample Code - MoveFn()

단동식 툴 Global Variable
단동식 툴 WCI Writer

단동식 툴 Skill Writer

Skill 작성을 위한 사전 준비
Reference Pose
Gripper Setting - Tool Wait Time
Gripper Setting - Set TCP(옵션)
Approach/Retract Motion Setting - Distance
Approach/Retract Motion Setting - Velocity
Approach/Retract Motion Setting - Acceleration
DRL Component

Modbus TCP WCI 제작하기

Modbus TCP WCI Writer

부록

문제 해결 가이드

통신 타입

Modbus Type
TCP/IP Type
Industrial Ethernet
Serial
Digital I/O
FOCAS Type

ROS manual(V1.14)

Doosan ROS package 설치

동작 모드

Virtual mode
Real mode

dsr_description

dsr_description <robot_model>.launch

dsr_moveit_config 관련

dsr_moveit_config
dsr_control + moveit
MoveIt Commander

dsr_launcher

dsr_example

Single Robot
Multi Robot
Gripper
Mobile robot

dsr_msgs

Topic

RobotState.msg
RobotStop.msg
RobotError.msg
LogAlarm.msg
ModbusState.msg
JogMultiAxis.msg

Service/motion

Trans.srv
Fkin.srv
Ikin.srv
SetRefCoord.srv
MoveJoint.srv
MoveLine.srv
MoveJointx.srv
MoveCircle.srv
MoveSplineJoint.srv
MoveSplineTask.srv
MoveBlending.srv
MoveSpiral.srv
MovePeriodic.srv
MoveWait.srv
MovePause.srv
MoveResume.srv
MoveStop.srv
Jog.srv
JogMulti.srv
CheckMotion.srv
ChangeOperationSpeed.srv
EnableAlterMotion.srv
AlterMotion.srv
DisableAlterMotion.srv
SetSingularityHandling.srv

Service/system

GetRobotMode.srv
SetRobotMode.srv
GetRobotSystem
SetRobotSystem.srv
GetRobotSpeedMode.srv
SetRobotSpeedMode.srv
SetSafeStopResetType.srv
GetCurrentPose.srv
GetLastAlarm.srv

Service/aux_control

GetControlMode.srv
GetControlSpace.srv
GetCurrentPosj.srv
GetCurrentVelj.srv
GetDesiredPosj.srv
GetDesiredVelj.srv
GetCurrentPosx.srv
GetCurruntToolFlangePosx.srv
GetCurrentVelx.srv
GetDesiredPosx.srv
GetDesiredVelx.srv
GetCurrentSolutionSpace.srv
GetCurrentRotm.srv
GetJointTorque.srv
GetExternalTorque.srv
GetToolForce.srv
GetSolutionSpace.srv
GetOrientationError.srv

Service/tcp

ConfigCreateTcp.srv
ConfigDeleteTcp.srv
GetCurrentTcp.srv
SetCurrentTcp.srv

Service/tool

ConfigCreateTool.srv
ConfigDeleteTool.srv
GetCurrentTool.srv
SetCurrentTool.srv

Service/force

ParallelAxis1.srv
ParallelAxis2.srv
AlignAxis1.srv
AlignAxis2.srv
IsDoneBoltTightening.srv
ReleaseComplianceCtrl.srv
TaskComplianceCtrl.srv
SetStiffnessx.srv
CalcCoord.srv
SetUserCartCoord1.srv
SetUserCartCoord2.srv
SetUserCartCoord3.srv
OverwriteUserCartCoord.srv
GetUserCartCoord.srv
SetDesiredForce.srv
ReleaseForce.srv
CheckPositionCondition.srv
CheckForceCondition.srv
CheckOrientationCondition1.srv
CheckOrientationCondition2.srv
CoordTransform.srv
GetWorkpieceWeight.srv
ResetWorkpieceWeight.srv

Service/IO

SetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalOutput.srv
GetCtlBoxDigitalInput.srv
SetToolDigitalOutput.srv
GetToolDigitalOutput.srv
GetToolDigitalIntput.srv
SetCtlBoxAnalogOutputType.srv
SetCtlBoxAnalogInputType.srv
SetCtlBoxAnalogOutput.srv
GetCtlBoxAnalogInput.srv

Service/modbus

ConfigCreateModbus.srv
ConfigDeleteModbus.srv
SetModbusOutput.srv
GetModbuInput.srv

Service/DRL

DrlStart.srv
DrlStop.srv
DrlPause.srv
DrlResume.srv
GetDrlState.srv

Service/gripper

SerialSendData.srv
RobotiqMove.srv

DRL 명령어

로봇 모드

set_robot_mode(robot_mode)
get_robot_mode()
get_last_alarm()
set_safe_stop_reset_type(reset_type)
set_robot_speed_mode(speed_mode)
get_robot_speed_mode()
set_robot_system(robot_system)
get_robot_system()
get_robot_state()

Policy&Notice

법적고지
이용약관
개인정보처리방침 등
쿠키 정책
OSS Notice

Programming manual (V2.12.4)

DRL Basic Syntax

기본 문법

들여쓰기
주석

변수

변수명
수치
문자
list
tuple
dictionary

함수

함수 문법
스코핑 룰
인수 모드

제어문

pass
if
while
for
break
continue
반복문의 else

모션 관련 명령어

위치 생성

posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)
posx(X=0, Y=0, Z=0, A=0, B=0, C=0)
trans(pos, delta, ref, ref_out)
posb(seg_type, posx1, posx2=None, radius=0)
fkin(pos, ref)
ikin(pos, sol_space, ref)
ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)
addto(pos, add_val=None)
ikin_norm(pos, sol_space, ref, ref_pos_opt)
get_projected_posx()

모션 설정

set_velj(vel)
set_accj(acc)
set_velx(vel1, vel2, clamp)
set_accx(acc1, acc2)
set_ref_coord(coord)
set_auto_acceleration_mode(mode, ratio)

동기 모션

movej()
movel()
movejx()
movec()
movesj()
movesx()
moveb()
move_spiral()
move_periodic()
move_home()

비동기 모션

amovej()
amovel()
amovejx()
amovec()
amovesj()
amovesx()
amoveb()
amove_spiral()
amove_periodic()

추가 기능

mwait(time=0)
begin_blend(radius=0)
end_blend()
check_motion()
stop(st_mode)
change_operation_speed(speed)
wait_manual_guide()
wait_nudge()
enable_alter_motion()
alter_motion()
disable_alter_motion()
check_robot_mastering()
motion_pause()
motion_resume()

서보 모션

servoj()
servol()
speedj()
speedl()

제어 보조 명령어

로봇 현재값

get_current_posj()
get_current_velj()
get_current_posx(ref)
get_current_tool_flange_posx(ref)
get_current_velx(ref)
get_current_rotm(ref)
get_joint_torque()
get_external_torque()
get_tool_force(ref)

로봇 목표값

get_desired_posj()
get_desired_velj()
get_desired_posx(ref)
get_desired_velx(ref)

제어 상태값

get_control_mode()
get_control_space()
get_current_solution_space()
get_solution_space(pos)
get_orientation_error(xd, xc, axis)

로봇 안전 설정 파라미터

get_cockpit()
get_collision_sensitivity()
get_configurable_io()
get_current_tcp()
get_current_tool_shape()
get_current_tool()
get_general_range()
get_idle_off()
get_install_pose()
get_io_speed_ratio()
get_joint_range()
get_modbus_data_list()
get_nudge()
get_safety_data_version()
get_safety_function()
get_safety_io()
get_safety_zone_cnt()
get_safety_zone_list()
get_tcp_list()
get_tcp_symbol()
get_tool_list()
get_tool_shape_list()
get_tool_shape_symbol()
get_tool_symbol()
get_user_coord_cnt()
get_user_coord()
get_world_coord()

기타 설정 명령어

툴/작업물 설정

get_workpiece_weight()
reset_workpiece_weight()
set_workpiece_weight(weight=0.0, cog=[0.0,0.0,0.0], cog_ref=DR_CUR_TCP, add_up=DR_REPLACE, start_time=None, transition_time=None)
set_tcp()
set_tool_shape(name)
set_tool(name, start_time, transition_time)
set_tool_digital_output_level (lv=None)
set_tool_digital_output_type(port, output_type=None)
get_tool_analog_input (ch)
set_mode_tool_analog_input (ch, mod)

제어 모드 설정

set_singularity_handling(mode)
set_singular_handling_force(mode)
set_palletizing_mode(mode)
set_motion_end(mode)

힘/순응 제어 및 기타 사용자 편의 기능

힘/순응 제어

release_compliance_ctrl()
task_compliance_ctrl(stx, time)
set_stiffnessx(stx, time)
set_desired_force()
release_force(time=0)
get_force_control_state()
set_damping_factor(damping_factor, time)
set_force_factor(force_factor, time)
set_external_force_reset()

사용자 편의 기능

parallel_axis(x1, x2, x3, axis, ref)
parallel_axis(vect, axis, ref)
align_axis(x1, x2, x3, pos, axis, ref)
align_axis(vect, pos, axis, ref)
is_done_bolt_tightening(m=0, timeout=0, axis=None)
calc_coord(x1, x2, x3, x4, ref, mod)
set_user_cart_coord(pos, ref)
set_user_cart_coord(x1, x2, x3, pos, ref)
set_user_cart_coord(u1, v1, pos, ref)
overwrite_user_cart_coord(id, pos, ref, apply_mod)
get_user_cart_coord(id)
check_position_condition(axis, min, max, ref, mod, pos)
check_force_condition(axis, min, max, ref)
check_orientation_condition(axis, min, max, ref, mod)
check_orientation_condition(axis, min, max, ref, mod, pos)
coord_transform(pose_in, ref_in, ref_out)
get_pattern_point(pos1, pos2, pos3, pos4, index, pattern, row, column, stack, stack_offset, point_offset)
get_cockpit_input()

시스템 명령어

IO 관련

set_digital_output(index, val =None)
set_digital_output(index, val=None, time=None, val2=None)
set_digital_outputs(bit_list)
set_digital_outputs(bit_start, bit_end, val)
get_digital_input(index)
get_digital_inputs()
get_digital_inputs(bit_start, bit_end)
wait_digital_input()
set_tool_digital_output(index, val=None)
set_tool_digital_output(index, val=None, time=None, val2=None)
set_tool_digital_outputs(bit_list)
set_tool_digital_outputs()
wait_tool_digital_input()
get_tool_digital_input(index)
get_tool_digital_inputs(bit_list)
get_tool_digital_inputs(bit_start, bit_end)
set_mode_analog_output(ch, mod )
set_mode_analog_input(ch, mod )
set_analog_output(ch, val)
get_analog_input(ch)
set_output(port_type, index, val=None, time=None, val2=None)
get_input(port_type, index)
wait_input(port_type, index, val, timeout=None, condition=None)
wait_analog_input(ch, condition, val, timeout=None)
wait_tool_analog_input(ch, condition, val, timeout=None)
get_digital_output(index)
get_digital_outputs(bit_list)
get_digital_outputs(bit_start, bit_end)

TP 연동

tp_popup(message, pm_type=DR_PM_MESSAGE, button_type=0)
tp_log(message)
tp_get_user_input(message, input_type)

Thread

thread_run(th_func_name, loop=False)
thread_stop(th_id)
thread_pause(th_id)
thread_resume(th_id)
thread_state(th_id)
통합 예제 - Thread

기타

wait()
exit()
sub_program_run(name)
drl_report_line(option)
set_fm(key, value)
get_robot_model()
get_robot_serial_num()
check_robot_jts()
check_robot_fts()
start_timer()
end_timer()

수학 함수

삼각함수

sin(x)
cos(x)
tan(x)
asin(x)
acos(x)
atan(x)
atan2(y, x)

선형대수

norm(x)
rotx(angle)
roty(angle)
rotz(angle)
rotm2eul(rotm)
rotm2rotvec(rotm)
eul2rotm([alpha,beta,gamma])
eul2rotvec([alpha,beta,gamma])
eul2rpy([alpha,beta,gamma])
rpy2eul([yaw,pitch,roll])
rotvec2eul([rx,ry,rz])
rotvec2rotm([rx,ry,rz])
htrans(posx1,posx2)
get_intermediate_pose(posx1,posx2,alpha)
get_distance(posx1, posx2)
get_normal(x1, x2, x3)
add_pose(posx1,posx2)
subtract_pose(posx1,posx2)
inverse_pose(posx1)
dot_pose(posx1, posx2)
cross_pose(posx1, posx2)
unit_pose(posx1)

기본 함수

ceil(x)
floor(x)
pow(x, y)
sqrt(x)
log(x, b)
d2r(x)
r2d(x)
random()

외부 통신 명령어

Serial

serial_open(port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE)
serial_close(ser)
serial_state(ser)
serial_set_inter_byte_timeout(ser, timeout=None)
serial_write(ser, tx_data)
serial_read()
serial_get_count()
serial_get_info(id)
통합 예제 - Serial

플랜지 I/O

flange_serial_open()
flange_serial_read()
flange_serial_write()
flange_serial_close()
통합 예제 - Serial(플랜지 I/O)

Tcp/Client

client_socket_open(ip, port)
client_socket_close(sock)
client_socket_state(sock)
client_socket_write(sock, tx_data)
client_socket_read(sock, length=-1, timeout=-1)
통합 예제 (Tcp/Client)

Tcp/Server

server_socket_open(port)
server_socket_close(sock)
server_socket_state(sock)
server_socket_write(sock, tx_data)
server_socket_read(sock, length=-1, timeout=-1)
통합 예제 - Tcp/Server

Modbus

add_modbus_signal(ip, port, name, reg_type, index, value=0, slaveid=255)
add_modbus_rtu_signal(slaveid=1, port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE, name, reg_type, index, value=0)
add_modbus_signal_multi()
add_modbus_rtu_signal_multi(slaveid=1, port=None, baudrate=115200, bytesize=DR_EIGHTBITS, parity=DR_PARITY_NONE, stopbits=DR_STOPBITS_ONE, name=None, reg_type=DR_HOLDING_REGISTER, start_address=0, cnt=1)
del_modbus_signal(name)
del_modbus_signal_multi(name)
set_modbus_output(iobus, value, time=None, val2=None)
set_modbus_outputs()
set_modbus_output_multi()
get_modbus_input(iobus)
get_modbus_inputs(iobus_list)
get_modbus_inputs_list(iobus_list)
get_modbus_input_multi (iobus)
wait_modbus_input()
set_modbus_slave(address, val)
get_modbus_slave(address)
modbus_crc16(data)
modbus_send_make(send_data)
modbus_recv_check(recv_data)
modbus_unsigned_to_signed(unsigned_data)

Industrial Ethernet (EtherNet/IP,PROFINET)

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)

FOCAS

focas_connect()
focas_disconnect(handle)
focas_pmc_read_bit(handle, addr_type, start_num, bit_offset)
focas_pmc_read_char(handle, addr_type, start_num, read_count)
focas_pmc_read_word(handle, addr_type, start_num, read_count)
focas_pmc_read_long(handle, addr_type, start_num, read_count)
focas_pmc_read_float(handle, addr_type, start_num, read_count)
focas_pmc_read_double(handle, addr_type, start_num, read_count)
focas_get_error_str(handle, errorCode)
focas_pmc_write_bit()
focas_pmc_write_word()
focas_pmc_write_float()
focas_pmc_write_long()
focas_pmc_write_double()
focas_pmc_write_char()

외부 비전 명령어

개요

2D Vision - COGNEX / SICK / VISOR

vs_set_info(type)
vs_connect(ip_addr, port_num=9999)
vs_disconnect()
vs_get_job()
vs_set_job(job_name)
cognex_set_integer (job_name, integer_number)
visor_job_change(index)
vs_trigger()
vs_set_init_pos(vision_posx_init, robot_posx_init, vs_pos=1)
vs_get_offset_pos()
통합예제 - DR_VS_COGNEX, DR_VS_SICK
vs_request(cmd)
vs_result()
통합예제 - DR_VS_CUSTOM

Pickit 3D

pickit_connect()
pickit_disconnect()
pickit_change_configuration()
pickit_request_calibration()
pickit_detection(offset_z)
pickit_next_object(offset_z)
pickit_save_snapshot()
통합 예제 - Pickit 3D

두산비전(SVM) 명령어

카메라 연결

svm_connect(ip=”192.168.137.5”, port=20)
svm_disconnect()

이미지 품질 체크

svm_set_led_brightness(value)
svm_get_led_brightness()
svm_set_camera_exp_val(value)
svm_set_camera_gain_val(value)
svm_set_camera_load(job_id)

비전 작업 관리

svm_set_job(job_id)

카메라 보정

svm_get_robot_pose(job_id)

사물 인식 및 감지

svm_get_vision_info(job_id)
svm_get_variable(tool_id, var_type)
svm_detect_landmark(job_id)
svm_get_marker_offset_pose(cpos, offset, euler_mode)
svm_get_detect_barcode()
svm_get_barcode_db_data(index)
svm_compare_barcode_db_data(dbdata)

로봇 태스크

svm_set_init_pos_data(Id_list, Pos_list)
svm_get_offset_pos(posx_robot_init, job_id, tool_id)

기타 SVM 명령어

svm_set_tp_popup (svm_flag)

통합예제 - SVM

Application 명령어

External Encoder 설정 명령어

set_extenc_polarity(channel, polarity_A, polarity_B, polarity_Z, polarity_S)
set_extenc_mode(channel, mode_AB, pulse_AZ, mode_Z, mode_S, inverse_cnt)
get_extenc_count(channel)
clear_extenc_count(channel)

Conveyor Tracking

set_conveyor_ex(name=””, conv_type=0, encoder_channel=1, triggering_mute_time=0.0, count_per_dist=5000, conv_coord=posx(0,0,0,0,0,0), ref=DR_BASE, conv_speed=100.0, speed_filter_size=500, min_dist=0.0, max_dist=1000.0 ...)
get_conveyor_obj(conv_id, timeout=None, container_type=DR_FIFO, obj_offset_coord=None)
tracking_conveyor(conv_id, time=0.3)
untracking_conveyor(conv_id, time=0.3)
set_conveyor()

Welding

app_weld_enable_digital()
app_weld_disable_digital()
app_weld_set_interface_eip_r2m_process()
app_weld_set_interface_eip_r2m_mode()
app_weld_set_interface_eip_r2m_test()
app_weld_set_interface_eip_r2m_condition()
app_weld_set_interface_eip_r2m_option()
app_weld_set_interface_eip_m2r_process()
app_weld_set_interface_eip_m2r_monitoring()
app_weld_set_interface_eip_m2r_other()
app_weld_set_weld_cond_digital(flag_dry_run=0, vel_target=0, vel_min=0, vel_max=0, welding_mode=0, s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0,...)
app_weld_adj_welding_cond_digital(flag_reset=None, f_target=None, vel_target=None, wv_offset=None, wv_width_ratio=None, dynamic_cor=None, voltage_cor=None, job_number=None, synergic_id=None)
app_weld_get_welding_cond_digital()
app_weld_enable_analog(ch_v_out=[1,0],spec_v_out=[0,0,0,0], ch_f_out =[2,0], spec_f_out =[0,0,0,0], ch_v_in =[1,0], spec_v_in =[0,0,0,0], ch_c_in =[2,0], spec_c_in=[0,0,0,0], ch_arc_on=1, ch_gas_on=2, ch_inching_fwd=3, ch_inching_bwd=4...)
app_weld_disable_analog()
app_weld_set_weld_cond_analog(flag_dry_run=0, v_target=0, f_target=0, vel_target=0, vel_min=0, vel_max=0, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])
app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None, wv_offset=None, wv_width_ratio=None)
app_weld_get_welding_cond_analog()
app_weld_weave_cond_trapezoidal()
app_weld_weave_cond_zigzag()
app_weld_weave_cond_circular()
app_weld_weave_cond_sinusoidal()
app_weld_weave_cond_cwave()
app_weld_signal_contact_status()
app_weld_get_extreme_point(time=50)
app_weld_adj_motion_offset(offset=[0.0, 0.0])
arc_sensing_enable(daq_channel, probe_ratio, max_correction)
arc_sensing_set(mode,type,target_current,gain,bias)
arc_sensing_disable()
get_daq_status()

A-Series 전용 명령어

컨트롤러

get_function_input(index)

DART Studio Manual(V2.12)

PART 1. 사용자 매뉴얼

설치하기

소프트웨어 개요

레이아웃 살펴보기
창 표시/숨기기
창 레이아웃 및 테마 변경
소프트웨어 테마 변경
소프트웨어 언어 설정
제어기 연결
가상 제어기 사용하기
IO 시뮬레이터

시스템 모니터링

모니터링 바
모니터링 창

그래프 창

지원되는 데이터 유형
그래프 보기
그래프 레이아웃 변경
모니터링 제어

모션 모니터링 창

시각화된 객체
3D 뷰어 사용법

시스템 제어

제어 권한

로봇 환경 설정

로봇 환경 설정 화면 열기
로봇 환경 설정 UI
현재 시스템 구성 가져오기
안전 구성 설정을 위한 일반적인 장치
안전 파라미터
안전 영역 개요 (제어기 버전 GF020400 까지 유효)
안전 영역 설정 (제어기 버전 GF020400 까지 유효)
안전 영역 개요 (제어기 버전 GF020500부터 유효)
안전 영역 설정 (제어기 버전 GF020500부터 유효)
툴
모드버스 IO
좌표계

수동 모션

조인트 조그
조인트 모션
태스크 조그
태스크 모션
정렬 모션
호밍
P 모델 전용 기능

팩킹

팩킹 및 언팩킹하기

IO 제어

고장 복구

복구 동작
백드라이브 모드

테스크 관리자

프로젝트 탐색기
DRL 프로그램 실행

DRL 편집기 사용하기

DRL 편집기 살펴보기
구문 강조
새 프로그램 생성
프로그램 저장 및 열기
주석
북 마크
텍스트로 현재 위치 가져오기
함수 개요
코드 자동 완성
정의로 이동
모든 참조 찾기
스크립트 업로드

DRL 가이드

DRL 가이드 열기
DRL 명령어 검색

단축키 목록

프로그램 실행

라인 별로 프로그램 실행하기
중단 점 설정하기
실행 속도 변경

모니터링 변수

디버그 변수
시스템 변수

E 모델 전용 기능

틀어짐 보정

PART 2. 경로 생성(Path generation)

CAD 기반 경로 생성

작업창 열기

3차원 화면 조작

화면 제어
개체 표시
화면 시점 설정
투영 방법 설정

개체 조작

개체 선택
주변 개체 자동 선택
개체 삭제
개체 변환
개체 속성 표시

형상 파일 읽기

경로 생성하기

윤곽선 경로 생성
오프셋 스윕 경로 생성
지그재그 스윕 경로 생성하기

경로 편집하기

경유점 방향 조정
경로 세그먼트 분할
경로 세그먼트 결합
경로 방향 변경
경로 순서 변경

형상 생성하기

점 생성
직선/곡선 생성
직선/곡선 편집
평면/곡면 생성
평면/곡면 편집
그룹 생성

형상/경로를 로봇 좌표계로 변환하기
스크립트 생성하기
경로 생성 실습

기타 사용 팁

기능 실행
작업창 여러 개 띄우기
실행 취소와 다시 실행
상태 표시바

PART 3. 팔레타이징(Palletizing)

팔레트 경로 생성하기

작업 창 열기
프로젝트 생성

패턴 생성

패턴 생성 메인창
플레이트 설정
프로덕트 설정
캘리브레이션 설정

레이아웃 설정

레이아웃 메인 창
프로덕트 자동 생성
접근 속성 설정

레이어 설정

레이어 메인창

3차원 화면 조작 및 설정

팔레트 경로 생성

경로 생성
생성 코드 분석

PART 4. 용접(Welding)

실시간 용접 조건 변경 입력 및 모니터링 정보 표시 기능

Welding Technical Note(V2.12.1)

용접기능을 활용한 협동로봇 아크용접

아크용접 개요

로봇용접
두산 로봇을 활용한 용접작업 흐름

EtherNet/IP 인터페이스 방식 용접기 연결 예시

사전 준비 사항
표준 PLC의 네트워크 구성도
XG5000을 이용한 Gateway 프로젝트 불러오기
디지털 용접기의 송/수신 크기 수정하기
PLC, 로봇, 용접기 EtherNet/IP 환경구축하기
Program Check
프로젝트 다운로드 및 Run

Analog 인터페이스 방식 용접기 연결 예시

워크셀 매니저 사용하기

주변장치 설정하기

워크셀 매니저에서 설정하기(WCI)

디지털 용접기 인터페이스 설정 (Digital Welding Machine)

로봇-용접기 간 모션-용접 연동 신호
로봇에서 용접기로의 신호 (Robot to Machine)
용접기에서 로봇으로의 신호 (Machine to Robot)

시그널 테스트(Signal Test)

유용한 팁 및 이상상황 조치

통신 연결 실패 시 통신방식 용접기(EtherNet/IP) 인터페이스 설정 및 정상 동작 확인 방법
통신방식 용접기 정/역 인칭 모드 변경 방법

용접 조건 설정

용접 조건 설정하기
용접 조건 리스트 관리 설정

용접 토치 설정

TCP 추정 기능

위빙 조건 설정

위빙좌표계
위빙조건 설정 (Trapezoidal(사다리꼴))
위빙조건 설정 (Circular(원형))
위빙조건 설정 (Zigzag(지그재그))
위빙조건 설정 (Sinusoidal(정현파형))
위빙조건 설정 (C-Wave(C 파형))
오프셋 및 기울임각 설정 (공통)

프로그래밍하기(TB/TW)

태크 용접(가용접, Tack Welding) 작업하기

용접 태스크 설정하기 (Start Welding – End Welding)

용접 명령어 속성 설정
용접 경로 교시 및 구간별 작업 조건 지정
용접자세를 고려한 용접 경로 교시
시뮬레이션(simulation) 모드 설정

유용한 팁 및 이상 상황 조치

실행하며 모니터링/조정하기(Play)

모니터링 조정 항목
실시간 조정하기
조정량 반영

워크셀 매니저에서 설정하기(WCI)(Analog)

용접기 연결 설정

용접기 연결 설정 (Analog Welding Machine)
작업자 개입 기능 설정(Analog)

용접 조건 설정(Analog)

용접 조건 설정 화면
기본 용접 조건 설정

용접공정 설정 항목

용접공정 기본 순서

용접 조건 리스트 관리 설정(Analog)

용접 토치 설정(Analog)
위빙 조건 설정(Analog)

프로그래밍 하기(TB/TW)(Analog)

태크 용접(Tack Welding) 작업하기

용접 태스크 설정하기 (Start Welding – End Welding)(Analog)

용접 명령어 속성 설정(Analog)
용접 경로 교시 및 구간별 작업 조건 지정(Analog)

실행하며 모니터링/조정하기(Play)(Analog)

모니터링 조정 항목(Analog)
실시간 조정하기(Analog)
조정량 반영(Analog)

아크 센싱(Arc Sensing)

하드웨어 세팅

시스템 구성
장치 연결 방법
전류 센서 세팅 방법
지원 DAQ 목록
하드웨어 유의 사항

소프트웨어 세팅

UI 세팅

워크셀 매니저에서 설정하기 (WCI)
프로그래밍 하기 (TB / TW)
실행하며 모니터링 하기(Play)

프로그래밍 하기 (DRL)
소프트웨어 유의 사항

Trouble Shooting

Programming 명령어

용접기능 DRL 명령어 List

API manual (V1.33)

소개(Introduction)

설치 가이드

헤더파일 사용하기
라이브러리 링크하기
권장 운용 사양
라이브러리 구성

프로그래밍 유의사항

로봇 연결/해제
로봇 초기화
제어권 관리
로봇 운용 모드
로봇 운용 상태
로봇 상태 천이
프로그램 실행 및 종료
로봇 안전 설정 기능 제한

정의(Definition)

상수 및 열거형 정의

로그 및 알람 정의

LOG_LEVEL
LOG_GROUP
LOG_CODE

콜백 함수 정의

TOnMonitoringStateCB
TOnMonitoringDataCB
TOnMonitoringDataExCB
TOnMonitoringCtrlIOCB
TOnMonitoringCtrlIOExCB
TOnMonitoringModbusCB
TOnLogAlarmCB
TOnMonitoringAccessControlCB
TOnHommingCompletedCB
TOnTpInitializingCompletedCB
TOnMonitoringSpeedModeCB
TOnMasteringNeedCB
TOnProgramStoppedCB
TOnDisconnectedCB
TOnTpPopupCB
TOnTpLogCB
TOnTpGetUserInputCB
TOnTpProgressCB
TOnMonitoringRobotSystemCB
TOnMonitoringSafetyStateCB

구조체 정의

struct.SYSTEM_VERSION
struct.MONITORING_DATA
struct.MONITORING_DATA_EX
struct.MONITORING_CTRLIO
struct.MONITORING_CTRLIO_EX
struct.MONITORING_MODBUS
struct.LOG_ALARM
struct.MOVE_POSB
struct.ROBOT_POSE
struct.USER_COORDINATE
struct.MESSAGE_POPUP
struct.MESSAGE_INPUT
struct.MESSAGE_PROGRESS
struct.FLANGE_SERIAL_DATA
struct.FLANGE_SER_RXD_INFO
struct.READ_FLANGE_SERIAL
struct. INVERSE_KINEMATIC_RESPONSE
struct.UPDATE_SW_MODULE_RESPONSE
struct.CONFIG_JOINT_RANGE
struct.GENERAL_RANGE
struct.CONFIG_GENERAL_RANGE
struct.POINT_2D
struct.POINT_3D
struct.LINE
union.CONFIG_SAFETY_FUNCTION
struct._tStopCode
struct.CONFIG_INSTALL_POSE
struct.CONFIG_SAFETY_IO
struct.CONFIG_SAFETY_IO_EX
union.VIRTUAL_FENCE_OBJECT
struct.CONFIG_VIRTUAL_FENCE
struct.CONFIG_SAFE_ZONE
struct.ENABLE_SAFE_ZONE
struct.SAFETY_OBJECT_SPHERE
struct.SAFETY_OBJECT_CAPSULE
struct.SAFETY_OBJECT_CUBE
struct.SAFETY_OBJECT_OBB
struct.SAFETY_OBJECT_POLYPRISM
union.SAFETY_OBJECT_DATA
struct.SAFETY_OBJECT
struct.CONFIG_PROTECTED_ZONE
struct.CONFIG_COLLISION_MUTE_ZONE_PROPERTY
struct.CONFIG_COLLISION_MUTE_ZONE
struct.SAFETY_TOOL_ORIENTATION_LIMIT
struct.CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
struct.CONFIG_NUDGE
struct.CONFIG_COCKPIT_EX
struct.CONFIG_IDLE_OFF
struct.WRITE_MODBUS_DATA
struct.WRITE_MODBUS_RTU_DATA
struct.MODBUS_DATA
struct.MODBUS_DATA_LIST
struct.CONFIG_WORLD_COORDINATE
struct.CONFIG_CONFIGURABLE_IO
struct.CONFIG_CONFIGURABLE_IO_EX
struct.CONFIG_TOOL_SHAPE
struct.CONFIG_TOOL_SYMBOL
struct.CONFIG_TCP_SYMBOL
struct.CONFIG_TOOL_LIST
struct.CONFIG_TOOL_SHAPE_SYMBOL
struct.CONFIG_TCP_LIST
struct.CONFIG_TOOL_SHAPE_LIST
struct.SAFETY_CONFIGURATION_EX
struct.SAFETY_CONFIGURATION_EX2
struct.SAFETY_CONFIGURATION_EX2_V3
struct.ROBOT_VEL
struct.ROBOT_FORCE
struct.CONFIG_SAFETY_IO_OP
struct.MONITORING_CTRLIO_EX2
struct.ROBOT_WELDING_DATA
struct.WELDING_CHANNEL
struct.CONFIG_WELDING_INTERFACE
struct.CONFIG_WELD_SETTING
struct.GET_WELDING_SETTING_RESPONSE
struct.ADJUST_WELDING_SETTING
struct.CONFIG_TRAPEZOID_WEAVING_SETTING
struct.CONFIG_ZIGZAG_WEAVING_SETTING
struct.CONFIG_CIRCULE_WEAVING_SETTING
struct.CONFIG_SINE_WEAVING_SETTING
struct.CONFIG_WELDING_DETAIL_INFO
struct.CONFIG_ANALOG_WELDING_INTERFACE
struct.CONFIG_ANALOG_WELDING_SETTING
struct.ANALOG_WELDING_ADJUST_SETTING
struct.CONFIG_DIGITAL_WELDING_IF_MAPPING_DATA
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MODE
struct.CONFIG_DIGITAL_WELDING_INTERFACE_TEST
struct.CONFIG_DIGITAL_WELDING_INTERFACE_CONDITION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OPTION
struct.CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS2
struct.CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING
struct.CONFIG_DIGITAL_WELDING_INTERFACE_OTHER
struct.DIGITAL_WELDING_RESET
struct.CONFIG_DIGITAL_WELDING_MODE
struct.CONFIG_DIGITAL_WELDING_CONDITION
struct.CONFIG_DIGITAL_WELDING_ADJUST
struct.MEASURE_TCP_WELDING
struct.TACK_WELDING_SETTING
struct.DIGITAL_FORCE_WRITE_DATA
struct.ROBOT_DIGITAL_WELDING_DATA
struct.DIGITAL_WELDING_COMM_STATE

함수(Function)

로봇 연결 함수

CDRFLEx.open_connection
CDRFLEx.close_connection

로봇 속성 함수

CDRFLEx.get_system_version
CDRFLEx.get_library_version
CDRFLEx.get_robot_mode
CDRFLEx.set_robot_mode
CDRFLEx.get_robot_state
CDRFLEx.set_robot_control
CDRFLEx.set_robot_system
CDRFLEx.get_robot_speed_mode
CDRFLEx.set_robot_speed_mode
CDRFLEx.get_program_state
CDRFLEx.get_robot_system
CDRFLEx.set_safe_stop_reset_type
CDRFLEx.get_current_pose
CDRFLEx.get_current_posj
CDRFLEx.get_desired_posj
CDRFLEx.get_current_velj
CDRFLEx.get_current_posx
CDRFLEx.get_desired_posx
CDRFLEx.get_current_tool_flange_posx
CDRFLEx.get_current_velx
CDRFLEx.get_desired_velx
CDRFLEx.get_joint_torque
CDRFLEx.get_control_space
CDRFLEx.get_external_torque
CDRFLEx.get_tool_force
CDRFLEx.get_current_solution_space
CDRFLEx.get_last_alarm
CDRFLEx.get_solution_space
CDRFLEx.get_orientation_error
CDRFLEx.get_control_mode
CDRFLEx.get_current_rotm
CDRFLEx.get_safety_configuration

콜백함수 등록 함수

CDRFLEx.set_on_monitoring_state
CDRFLEx.set_on_monitoring_data
CDRFLEx.set_on_monitoring_data_ex
CDRFLEx.set_on_monitoring_ctrl_io
CDRFLEx.set_on_monitoring_ctrl_io_ex
CDRFLEx.set_on_monitoring_modbus
CDRFLEx.set_on_log_alarm
CDRFLEx.set_on_tp_popup
CDRFLEx.set_on_tp_log
CDRFLEx.set_on_tp_progress
CDRFLEx.set_on_tp_get_user_input
CDRFLEx.set_on_monitoring_access_control
CDRFLEx.set_on_homming_completed
CDRFLEx.set_on_tp_initializing_completed
CDRFLEx.set_on_monitoring_speed_mode
CDRFLEx.set_on_mastering_need
CDRFLEx.set_on_program_stopped
CDRFLEx.set_on_disconnected
CDRFLEx.set_on_monitoring_robot_system
CDRFLEx.set_on_monitoring_safety_state

제어권 관리 함수

CDRFLEx.manage_access_control

기본 제어 함수

CDRFLEx.jog
CDRFLEx.move_home

모션 제어 함수

로봇 설정 함수

CDRFLEx.add_tool
CDRFLEx.del_tool
CDRFLEx.set_tool
CDRFLEx.get_tool
CDRFLEx.add_tcp
CDRFLEx.del_tcp
CDRFLEx.set_tcp
CDRFLEx.get_tcp
CDRFLEx.set_tool_shape
CDRFLEx.get_workpiece_weight
CDRFLEx.reset_workpiece_weight
CDRFLEx.set_singularity_handling
CDRFLEx.setup_monitoring_version
CDRFLEx.config_program_watch_variable
CDRFLEx.set_user_home
CDRFLEx.servo_off
CDRFLEx.release_protective_stop
CDRFLEx.change_collision_sensitivity
CDRFLEx.set_auto_servo_off
CDRFLEx.set_workpiece_weight
CDRFLEx.set_safety_mode
CDRFLEx.set_state_led_off()

I/O 제어 함수

CDRFLEx.set_tool_digital_output
CDRFLEx.get_tool_digital_input
CDRFLEx.get_tool_digital_output
CDRFLEx.set_digital_output
CDRFLEx.get_digital_input
CRDFLEx.get_digital_output
CDRFLEx.set_mode_analog_input
CDRFLEx.set_mode_analog_output
CDRFLEx.set_analog_output
CDRFLEx.get_analog_input
CDRFLEx.add_modbus_signal
CDRFLEx.del_modbus_signal
CDRFLEx.set_modbus_output
CDRFLEx.get_modbus_input
CDRFLEx.flange_serial_write
CDRFLEx.get_tool_analog_input
CDRFLEx.set_tool_digital_output_level
CDRFLEx.set_tool_digital_output_type
CDRFLEx.set_mode_tool_analog_input
CDRFLEx.flange_serial_open
CDRFLEx.flange_serial_close

프로그램 제어 함수

CDRFLEx.drl_start
CDRFLEx.drl_stop
CDRFLEx.drl_pause
CDRFLEx.drl_resume
CDRFLEx.change_operation_speed
CDRFLEx.save_sub_program
CDRFLEx.tp_popup_response
CDRFLEx.tp_get_user_input_response

힘/강성 제어 및 기타 사용자 편의 함수

CDRFLEx.parallel_axis

CDRFLEx.parallel_axis(fTargetPos1, fTargetPos2, fTargetPos3, eTaskAxis, eSourceRef)
CDRFLEx.parallel_axis(eSourceVec, eTaskAxis, eTargetRef)

CDRFLEx.align_axis

CDRFLEx.align_axis(fTargetPos1, fTargetPos2, fTargetPos3, fSourceVec, eTaskAxis, eTargetRef)
CDRFLEx.align_axis(eTargetVec, eSourceVec, eTaskAxis, eTargetRef)

CDRFLEx.is_done_bolt_tightening
CDRFLEx.task_compliance_ctrl
CDRFLEx.release_compliance_ctrl
CDRFLEx.set_stiffnessx
CDRFLEx.calc_coord

CDRFLEx.set_user_cart_coord

CDRFLEx.set_user_cart_coord(iReqId, fTargetPos, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetPos, fTargetOrg, eTargetRef)
CDRFLEx.set_user_cart_coord(fTargetVec, fTargetOrg, eTargetRef)

CDRFLEx.overwrite_user_cart_coord
CDRFLEx.get_user_cart_coord
CDRFLEx.set_desired_force
CDRFLEx.release_force
CDRFLEx.check_position_condition_abs
CDRFLEx.check_position_condition_rel
CDRFLEx.check_position_condition
CDRFLEx.check_force_condition

CDRFLEx.check_orientation_condition

CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, eForceReference)
CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, fTargetPos, eForceReference)

CDRFLEx.coord_transform
CDRFLEx.set_palletizing_mode
CDRFLEx.query_modbus_data_list

실시간 외부 제어(Realtime Control)

실시간 외부 제어 소개

버전

통신 연결 함수

CDRFLEx.connect_rt_control
CDRFLEx.disconnect_rt_control

정보 조회 함수

CDRFLEx.get_rt_control_input_version_list
CDRFLEx.get_rt_control_output_version_list
CDRFLEx.get_rt_control_input_data_list
CDRFLEx.get_rt_control_output_data_list

설정 함수

CDRFLEx.set_rt_control_input
CDRFLEx.set_rt_control_output

운용 함수

CDRFLEx.start_rt_control
CDRFLEx.stop_rt_control
CDRFLEx. set_on_rt_monitoring_data
CDRFLEx.read_data_rt
CDRFLEx.write_data_rt

서보 모션 함수

CDRFLEx.set_velj_rt
CDRFLEx.set_accj_rt
CDRFLEx.set_velx_rt
CDRFLEx.set_accx_rt
CDRFLEx.servoj_rt
CDRFLEx.servol_rt
CDRFLEx.speedj_rt
CDRFLEx.speedl_rt
CDRFLEx.torque_rt

어플리케이션 명령어(Application Command)

용접(Welding)

set_on_monitoring_welding_data
set_on_monitoring_analog_welding_data
set_on_monitoring_digital_welding_data
app_weld_weave_cond_trapezoidal
app_weld_weave_cond_zigzag
app_weld_weave_cond_circular
app_weld_weave_cond_sinusoidal
app_weld_enable_analog
app_weld_set_weld_cond_analog
app_weld_adj_welding_cond_analog
app_weld_set_interface_eip_m2r_process
app_weld_set_interface_eip_r2m_mode
app_weld_set_interface_eip_r2m_process
app_weld_set_interface_eip_r2m_test
app_weld_set_interface_eip_r2m_condition
app_weld_set_interface_eip_r2m_option
app_weld_set_interface_eip_m2r_process2
app_weld_set_interface_eip_m2r_monitoring
app_weld_set_interface_eip_m2r_other
app_weld_reset_interface
app_weld_enable_digital
app_weld_set_weld_cond_digital
app_weld_adj_welding_cond_digital
measure_welding_tcp
set_welding_cockpit_setting
set_digital_welding_monitoring_mode
app_weld_adj_motion_offset
set_welding_cockpit_setting_time_setting

Manual PDF download
ROS 2 Docs.
API Docs.
Training Video
V3 Manual

Main

PART 1. Safety Manual

Manual Indication Conventions
Safety Symbols
General Instructions
Precautions for Use
Product Usage
Risk Assessment
Potential Risks

Robot Mode and State

Manual Mode
Automatic Mode
Other Mode
Status and Flange LED Color for Each Mode

Product Warranty and Responsibility

Safety Function

Safety-rated Stop Subfunction

Safety-rated Stop Function

Emergency Stop
Protective Stop

Safety-rated Monitoring Function
Safety-rated I/O

Safety Function Settings

Robot Limits
Safety I/O
Safety Stop Modes
Nudge
Space Limit
Zone

Other Safety Measures
Validity and Responsibility
Disclaimer

Declaration and Certification

Europe Declaration of Incorporation (Original)
Europe Machinery Directive Attestation of Conformity
Europe EMC Directive Attestation of Conformity
U.S. NRTL Certification (U.S., CANADA)
Functional Safety Certification
Voluntary Safety Confirmation Declaration (KCs)

Stop Distance and Stop Time

Measurement Methods and Conditions

Stop Category
Measurement Poses and Conditions

A0509(S) Stop Category

A0509(S) Stop Category 0
A0509(S) Stop Category 1

A0912(S) Stop Category

A0912(S) Stop Category 0
A0912(S) Stop Category 1

Upper/Lower Threshold Range and Default Value of Safety Parameters

PART 2. Starting Up the Robot

Step 1. Robot Installation

Remove packing
Connect cable to the controller
Secure the robot base
Connect power to controller
Position controller
Power-up controller
Disengage emergency stop button
Disengage packaging pose
Servo Off

Step 2. Tool Installation and I/O Testing

Installing the tool
Turn system power off
Connect wires
Turn system power on
Test controller and flange I/O

Step 3. Robot Operation and Setting

Learn how to engage/disengage Safety Stop
Manual Operation - Learn how to perform safety recovery/powerless motion
Manual Operation - Learn how to use jog
Manual Operation - Learn how to perform direct teaching
Disengage the Password Lock
Robot Setting - Set robot limits
Workcell Item - Add robot installation pose (Mount)
Workcell Item - Add Tool Weight
Workcell Item - Add Tool Shape
Workcell Item - Add End Effector
Workcell Item - Add Space Limit
Robot Setting - Set World Coordinates
Learn about Workcell Manager and Workcell Item

Step 4. Create Task Program

Start programming
Understand compliance/force control
Utilize Sub/Call Sub
Try Compliance command samples
Understand robot motion
Try the sample MoveJ/MoveL commands
Understand robot motion properties
Skill - Try Pick & Place samples
Utilize Step Run
Try force command samples
Register and manage variables
Utilize debugging
Function of Operator Intervention

PART 3. Installation Manual

Product Introduction

Component Check
Names and functions of each part
System Configuration
Product Specifications, General

Robot Specifications

Axis Specification
Robot operating space
Max. Payload within operating space
Tool Center Point (TCP)
Basic specifications

Nameplate and Label

Installation

Cautions during Installation

Lifting points for transport and installation

Installation Environment

Installation Location Check
Robot Work Area Check

Hardware Installation

Securing the Robot
Connecting the Manipulator and Controller
Connecting the Controller and Emergency Stop Button
Connecting the Controller, and Smart Pendant
Connecting the Controller and Teach Pendant
Routing of Manipulator Cable and Teach Pendant Cable
Supplying Power to the Controller
Connecting the Robot and Tool

Emergency Stop Button Setting Switch
Power On/Off Controller Switch

Interface

Flange I/O

Flange Digital Output Specifications
Flange Digital Input Specifications
Flange Analog Input Specifications

Connecting Controller I/O

Setting the Terminal Block for Contact Input (TBSFT)
Setting the Digital I/O Power Terminal (TBPWR)
Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
Setting Analog I/O Terminal (TBAIO)
Setting Encoder Input Terminal (TBEN1, TBEN2)

Network Connection

Connecting External Devices - Vision Sensor
Connecting External Device – DART Platform
ModbusTCP Slave Setup
Expanded Protocol - PROFINET IO Device(pnio device) Setup
Expanded Protocol - EtherNet/IP Adapter(EIP adapter) Setup
Using Expanded Protocol
Using General Purpose Register(GPR)

Transportation

Caution during Transportation
Package Specitications
Pose for Robot Transportation

Maintenance
Disposal and Environment

PART 4. User Manual

System Power On/Off

System Booting

Program screen configuration

Home Screen Overview
Status window
Status Display Area
Work Screen Area
Main Menu

Understanding the robot

What is Euler Angle A, B, C?
What is Singularity?
Functional Limits of each Robot Series

Servo On

I/O and Communication

I/O Status Check

Controller/Flange Digital Input Check
Controller/Flange Analog Input Check
Controller/Flange Digital Output Setting
Controller/Flange Analog Output Setting

I/O Test
Modbus Test
Status > Slave Monitoring

What is a Workcell Item?

Add Workcell Item
Deprecated Workcell Item
Unavailable Workcell Items

Utilizing Workcell Manager

Robot Safety Setting

Robot Setting

Tool Shape Setting
World Coordinates Setting
Normal I/O Setting
Safety I/O Setting
Safety Stop Modes Setting
Nudge Setting
User Coordinates Setting
System Variable Setting

Space Limit and Zone Settings Overview

Space Limit and Zone Shape
Space Limit Settings
Collaborative Zone Settings
Crushing Prevention Zone Settings
Collision Sensitivity Reduction Zone Settings
Tool Orientation Limit Zone Settings
Custom Zone Settings

Robot Limits Setting
Tool Weight Setting
Mount Setting

End Effector Setting

Grippers and Tools
End Effector I/O Signal Setting
End Effector I/O Testing
Tool Center Point (TCP) Setting
Tool Center Point Setting based on Other End Effectors

Machine Tool Setting

Peripheral Setting

Others
Vision

Tool Setting

Manual Robot Operation

Jog Function

Align Screen

Alignment based on Base Axis
Alignment based on Target
Alignment based on Workcell Items
Go to Home

Jog Plus (Jog+)

Jog Screen

Execute based on World Coordinates
Execute based on Robot Base
Execute based on Joint
Execute based on Robot Tool

Movement Screen

Move with Base Reference Coordinates
Move with World Coordinates Reference Coordinates
Move with Tool Reference Coordinates
Moving with Angle Setting

Safety Recovery Mode

Using Software Recovery Mode
Packaging Mode Setting

Backdrive Mode

Hand-Guiding Operation

Teach Pendant Hand-Guiding Button
Cockpit Button (five buttons)
Cockpit Button (six buttons)
Clamping Escape by Cockpit

Automatic Robot Operation

Robot Teaching and Execution

Task Builder

Task Management

Create New Task
Template
Save Task
Save Task As
Editing Workcell Items
Save Task on External Storage Device (Task Builder)
Load Saved Tasks
Delete Saved Tasks
Import Tasks on External Storage Devices 1

Edit Task

Edit Task Screen Configuration
Add Command
Delete Command
Paste command

Task Builder Commands

Deprecated Skill Command

Setting and Applying Command Properties (Task Builder)

Motion Command Property Setting

Waypoint Setting
Speed Setting
Program Link Mode Setting
Blending Mode Setting
Multi-Segment (Waypoint) Setting

Skill Command Property Setting

Understanding Basic Principles of Skill Commands
Compliance Control and Contact Check
Skill Command Work Point Setting with Cockpit Buttons

Execute Task Program

Virtual mode screen
Real Mode Screen: Information Message Tab
Real Mode Screen: End Effector Information tab
Real Mode Screen: I/O Information Tab
Execute Task

Task Writer

Task Management

Create New Task
Save Task
Save Task As
Save Task on External Storage Device (Task Writer)
Load Saved Tasks
Delete Saved Tasks
Import Tasks on External Storage Devices
Export Task to External Storage Device

Edit Task Program
Task Writer Command
Setting and Applying Command Properties
Execute Task Program
Debug Screen

Task Execution and Stopping
Load Saved Tasks

Environment Setting

Language Setting
Date and Time Setting

Robot Setting

Remote Control Setting
Robot Home Position Setting
Flange I/O Setting
Smart Pendant Setting
Keyboard Setting
Cockpit Setting (A0509S, A0912S)

Change and Disable Password
User Role Setting

Network Setting

User-defined Modbus Support Function Code
Register User-defined Modbus
Register Preset Modbus

System Update

Unified Update
System Restore

Check and Enter Robot License Code

Check Log

Checking Log Messages
Checking Real-time Log Messages During Program Execution
Extract Log

Factory Reset

Delete Log
License Type and Factory Reset Range according to Vision Connection

Screen Saver Mode Setting
Idle Servo Off
Backup & Restore
Friction Calibration
Workcell & Skill Installation and Removal
KT Smart Factory Setting Screen

Appendix

Appendix. System Specification

Manipulator

A0509(S)
A0912(S)

Controller

CS-03 (AC Controller)
CS-04 (DC Controller)

Emergency Stop Button

EMSB-01

Smart Pendant (Option)

SP-01

Teach pendant

TP-01

FTS(A0509S, A0912S only)

Appendix. DC Controller

DC Controller (CS-04)

Product Introduction (CS-04)
Installation (CS-04)

Appendix. Doosan Robot Allowable Torque

Doosan Robot Allowable Torque

Appendix. Troubleshooting Guide

Application Recovery Mode Screen

Series Compatibility Error Screen

Series Compatibility Error Screen Functions
Robot Series Swap

Releasing Stop due to Space Limit and Zone Violations

Appendix. Smart Pendant (A Series)
Appendix. Welding Work Overview
Appendix. DART Platform Installation Requirement (minimum, recommended)

Breadcrumbs

User manual (V2.12.4)
PART 3. Installation Manual
Product Introduction
Robot Specifications

On this Page

Robot operating space

A0509

A0509S

A0912

A0912S

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