Precautions

Warning

• If the robot is installed with electrical devices, install the robot referring to the Installation 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. After opening the cover, the cover may be inadvertently closed during work, resulting in hand jam, so stand it up to perform the operation.

Warning

• Make sure to read and understand the manuals for all equipment installed.

• To prevent accidents by getting caught by the robot, do not wear loose clothing or accessories when operating the robot. Tie long hair to prevent accidents with hair getting caught by the robot.

• Before operating the robot, comprehensive risk assessment must be performed.

• Safety-related parameters must be determined through the comprehensive risk assessment, and safety parameter settings and the operation of safety functions must be verified before operating the robot.

• Before starting robot operation(Jogging, handguiding, running task program, etc.), make sure that the actual payload and installation are correct and that the actual pose of robot is identical to the pose on screen.

• Nudge and Hand-guiding must only be used if risk assessment approves its use.

• If an error occurs on the controller or the teach pendant, activate the emergency stop function, identify the cause of the error, find the error code on the log screen and contact the supplier.

• Make sure to become completely familiar with the robot user manual prior to operating 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.

• Make sure you enter the correct inputs for the tool (length, weight, center of gravity, etc.) before using the direct teaching function. If information is entered that is different from the actual tool's specifications, it may cause errors or malfunction of the direct teaching function.

• 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.