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 : Install the robot and connect the controller and teach pendant.
- Step 2. Tool Installation and I/O Testing : Install the tool and test the I/O signal.
- Step 3. Robot Operation and Setting : Learn how to operate the robot manually and add robot settings and Workcell Items.
- Step 4. Create Task Program : Learn how to operate the robot automatically and learn about basic motions, compliance/force control and Pick & Place skill samples.
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.
Step 1. Robot Installation
| Classification | Work | Mandatory Work | Difficulty | Time (Minutes) | |
|---|---|---|---|---|---|
| 1 | Robot Installation | Remove packing |  | EASY | 3 |
| Connect cable to the controller | | EASY | 1 | ||
| Secure the robot base | | EASY | 3 | ||
| Connect controller to robot | | EASY | 1 | ||
| Connect power to controller | | EASY | 1 | ||
| Position controller | | EASY | 1 | ||
| 2 | Initial start Up | Power-up controller | | EASY | 3 |
| Disengage emergency stop button | | EASY | 1 | ||
| Disengage packaging pose | | EASY | 3 | ||
| Servo Off | | EASY | 1 |
Step 2. Tool Installation and I/O Testing
| Classification | Work | Mandatory Work | Difficulty | Time (Minutes) | |
|---|---|---|---|---|---|
| 1 | Tool Installation | Install tool | | EASY | 5 |
| 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 |
Step 3. Robot Operation and Setting
| Classification | Work | Mandatory Work | Difficulty | Time (Minutes) | |
|---|---|---|---|---|---|
| 1 | Safety Stop | Learn how to engage/disengage Safety Stop | | EASY | 5 |
| 2 | Manual Operation | Learn how to perform safety recovery/powerless motion | | NORMAL | 15 |
| 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 Manager | Learn about Workcell Manager and Workcell Item | | EASY | 5 |
| 5 | Robot Settings (Standard Workcell Item Settings) | Set robot limits | | EASY | 5 |
| Set World Coordinates | OPTIONAL | NORMAL | 3 | ||
| 6 | Add Workcell Item | Add robot installation pose (Mount) | OPTIONAL | EASY | 3 |
| Add Tool Weight | | EASY | 5 | ||
| Add Tool Shape | | EASY | 5 | ||
| Add End Effector | | NORMAL | 10 | ||
| Add Space Limit | OPTIONAL | NORMAL | 10 |
Step 4. Create Task Program
| Classification | Work | Mandatory Work | Difficulty | Time (Minutes) | |
|---|---|---|---|---|---|
| 1 | Task Programming | Start programming | | EASY | 3 |
| 2 | Motion Robot Utilization | Understand robot motion | | EASY | 5 |
| Understand robot motion properties | | NORMAL | 15 | ||
| Try MoveJ/MoveL command samples | | NORMAL | 20 | ||
| 3 | Compliance/Force Control Utilization | Understand Compliance/Force Control | OPTIONAL | HARD | 15 |
| 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 | Miscellaneous Functions | Utilize Sub/Call Sub | OPTIONAL | NORMAL | 5 |
| Utilize debugging | OPTIONAL | NORMAL | 5 |