Doosan Robots - First thoughts!

[YoDoug]

Today is our first day of production with our new Doosan H2017 Cobot. I will probably turn it loose to run for a few hours tonight unattended. We have 8 ABB robots but for this project they really didn't have one that fit the size and payload we were looking for. The Doosan came in with 1700mm reach and 20kg payload. So far here are my thoughts;

Pros - Being collaborative is sure nice versus the ABBS. A lot easier nd quicker to manually move it around, including teaching point. The interface with my PLC cell controller was a breeze. They really make the Modbus communications easy to set up. The collaborative mode is neat. It senses collisions so we can run it without a cage. It stops with light force. We are also having it open and close the machine door. However, I do have some concerns that a few hours of chip build up in the door with trip the force sensors. We do have an area floor scanner on order. It is supposed to be here late this month. When that is installed I will reduce the robots sensitivity. As for interface, the DART platform software is pretty cool It lets you take over the robots pendent from your PC. You can do anything on your PC that you can on the pendent. We also have the DART studio offline programming software. This is where the cons start.

Cons - The user interface is really made for entry level users. It is really simple for basic programs. A new user can get going with little training. The problems start when you want to do something more complex. I like to program by code. Anytime I have repeating code I make a sub program or function. Our setup can run 20 parts at a time. We have 3 different part numbers that use the same op10 jaws but all have different op20 jaws and different robot pick/place points. I typically program something like this very parametrically with calculated points versus physically touched off points. The offline software is great for that style of programming, but tying it together with the machine is a nightmare. The robot pendent has system variables and points, but you can't access those from the offline software. The offline software will let you name variables and points, but when you send your programs to the machine they will only hold value one level deep in sub calls. The worst part is managing the subs. You have to create a subtask in the robot for each sub. You then have to copy and past your code into each subtask, then import them into the main program task. It is time consuming and easy to miss a step. As a result I went from having 12-15 sub routines like I do in our ABBS to minimizing it down to 5 total.

So far I am pleased with the robot. As long as it is reliable I would consider buying another. I don't like the extra steps I have to take as a programmer, but if it gets a simpler cell for our operators, then that is what I do. As it is planned it should be able do run 20 pieces overnight unattended for a total of about 13.7 hours. Below is a pic of the cell and a pic of the Schunk Pneumatic vises holding a part.

[CNCAppsJames]

Cons - The user interface is really made for entry level users. It is really simple for basic programs. A new user can get going with little training. The problems start when you want to do something more complex. I like to program by code. Anytime I have repeating code I make a sub program or function. Our setup can run 20 parts at a time. We have 3 different part numbers that use the same op10 jaws but all have different op20 jaws and different robot pick/place points. I typically program something like this very parametrically with calculated points versus physically touched off points. The offline software is great for that style of programming, but tying it together with the machine is a nightmare.

That's pretty typical of cobots. They really are an entry level automation system... and I don;t say that as a knock either. They 100% have their place. Integration though... WAY easier than an industrial robot like FANUC, ABB, Staubli, etc...

[Incogneeto]

Me and Del are both taking a deep hit.

Back with you in a minute.















Ok so can these things Think??

[Incogneeto]

First thought?? Howard had one of these and ended up in the hospital.(BBangTheory)

Doug??

[Jeff]

What's the price tag on that cobot?

[YoDoug]

What's the price tag on that cobot?

Mid $50k range. Not bad considering it is one of the largest cobots made both in reach and payload. 

[Tim Johnson]

What is the process of programming the cobot? Is it online or manual for the postioning?

[Jeff]

Mid $50k range. Not bad considering it is one of the largest cobots made both in reach and payload. 

Wow, that's not bad at all!

[YoDoug]

What is the process of programming the cobot? Is it online or manual for the postioning?

There is essentially three ways to program;

 You can program on the pendent. There is two modes, Task builder, and Task writer. Task builder is the simplest icon driven programming. You essentially manually drag the robot to a point and teach it as a move point. Task writer is similar but allows more manual coding.

There is a free software called DART platform that basically clones the pendent on your PC. It allows you to program offline and have full keyboard/mouse control. It even allows remote. The other night just to see if I could I logged into our VPN from home, logged into the robot, and pulled up the security camera feed. I was able to jog the robot around from my couch.

The last method is their offline software DART studio. This is the full offline tool. You are coding everything versus having the icons on the pendent. You can also import geometry and create paths from CAD geo. this software has a subscription price.

I used a combination of the DART studio and the DART platform. I did the bulk of the program in DART studio with a lot of parametrically driven moves, but for simple fixed routines like opening/closing the machines door I did that on the pendent with the drag/teach method.

[crazy^millman]

Doug can you send me a link to the DART software. I looked and couldn't find anything about it.

[YoDoug]

Doug can you send me a link to the DART software. I looked and couldn't find anything about it.

You have to go to https://robotlab.doosanrobotics.com/en/Index and create a login. Then you can download software, manuals, and other stuff. The DART platform is free but needs to connect to a robot to run. The DART studio has a 20 day demo available.

[crazy^millman]

You have to go to https://robotlab.doosanrobotics.com/en/Index and create a login. Then you can download software, manuals, and other stuff. The DART platform is free but needs to connect to a robot to run. The DART studio has a 20 day demo available.

I already created the login, but seems without having an actual Robot my options are limited. Good to see they have the interchangeability on other Cobots.

[Incogneeto]

Can it make a Bacon Sammich??

[Incogneeto]

In Reality your Intelligence is soo far over the top all I can do is make a smartass comment about Bacon.

pretty fuckin cool Doug, I spend most of my day trying to find a drill for a .241 hole.

[YoDoug]

In Reality your Intelligence is soo far over the top all I can do is make a smartass comment about Bacon.

pretty fuckin cool Doug, I spend most of my day trying to find a drill for a .241 hole.

The elusive .241 drill........