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About Doosan M1509
Doosan M1509 is a six-axis robot arm for assembly and handling operations requiring force control.
Manufacturer
Key Specifications
Payload
15 kg
Reach
900 mm
Weight
32 kg
Status
ACTIVE
Category
Collaborative Robots and Manipulators
Manipulator / Noise
<65 dB
Manipulator / Reach
900 mm
Manipulator / Payload
15 kg
Manipulator / Mounting
Any orientation
Manipulator / Arm cable
AC:6 m standard,3 m optional; DC:3 m standard,6 m optional
Manipulator / Tool speed
>1 m/s
Manipulator / Force control
Joint torque sensors
Manipulator / Repeatability
±0.03 mm
CS-01 - catalog / CS-01 mass
13 kg (CS-01 controller, not manipulator)
CS-02 - catalog / CS-02 mass
12 kg (CS-02 controller, not manipulator)
CS-11 - catalog / CS-11 mass
9.8 kg (CS-11 controller, not manipulator)
CS-12 - catalog / CS-12 mass
9.6 kg (CS-12 controller, not manipulator)
Manipulator / Number of axes
6 DOF
CS-01 - catalog / CS-01 supply
100–240 V AC / 50–60 Hz (CS-01 controller, not manipulator)
CS-02 - catalog / CS-02 supply
20–60 V DC (CS-02 controller, not manipulator)
CS-11 - catalog / CS-11 supply
100–240 V AC / 50–60 Hz (CS-11 controller, not manipulator)
CS-11P - catalog / CS-11P mass
21.7 kg (CS-11P controller, not manipulator)
CS-12 - catalog / CS-12 supply
22–60 V DC (CS-12 controller, not manipulator)
CS-12P - catalog / CS-12P mass
21.5 kg (CS-12P controller, not manipulator)
Manipulator / Flange interface
2 DI / 2 DO; RS485 (Pseudo); 24/12/0 V DC, max 3 A; X1/X2
Manipulator / Manipulator mass
33 kg
Joint movement M1509 / J1 range
±360 °
Joint movement M1509 / J2 range
±360 °
Joint movement M1509 / J3 range
±150 °
Joint movement M1509 / J4 range
±360 °
Joint movement M1509 / J5 range
±360 °
Joint movement M1509 / J6 range
±360 °
CS-11P - catalog / CS-11P supply
100–240 V AC / 50–60 Hz (CS-11P controller, not manipulator)
CS-12P - catalog / CS-12P supply
22–60 V DC (CS-12P controller, not manipulator)
CS-01 - catalog / CS-01 protection
IP30 (CS-01 controller, not manipulator)
CS-02 - catalog / CS-02 protection
IP20 (CS-02 controller, not manipulator)
CS-11 - catalog / CS-11 protection
Not rated (CS-11 controller, not manipulator)
CS-12 - catalog / CS-12 protection
Not rated (CS-12 controller, not manipulator)
CS-11P - catalog / CS-11P protection
IP54 (CS-11P controller, not manipulator)
CS-12P - catalog / CS-12P protection
IP54 (CS-12P controller, not manipulator)
Manipulator / Manipulator protection
IP54
CS-11P - manual3.4 / CS-11P (3.4) AI/AO
2 / 2 channels (CS-11P;manual 3.4, separate controller configuration)
CS-11P - manual3.4 / CS-11P (3.4) DI/DO
16 /16 channels (CS-11P;manual 3.4, separate controller configuration)
CS-11P - manual3.4 / CS-11P (3.4) cable
6 /3 m (CS-11P;manual 3.4, separate controller configuration;standard /option)
CS-12P - manual3.4 / CS-12P (3.4) AI/AO
2 / 2 channels (CS-12P;manual 3.4, separate controller configuration)
CS-12P - manual3.4 / CS-12P (3.4) DI/DO
16 /16 channels (CS-12P;manual 3.4, separate controller configuration)
CS-12P - manual3.4 / CS-12P (3.4) cable
3 /6 m (CS-12P;manual 3.4, separate controller configuration;standard /option)
Joint movement M1509 / J1 maximum speed
150 °/s
Joint movement M1509 / J2 maximum speed
150 °/s
Joint movement M1509 / J3 maximum speed
180 °/s
Joint movement M1509 / J4 maximum speed
225 °/s
Joint movement M1509 / J5 maximum speed
225 °/s
Joint movement M1509 / J6 maximum speed
225 °/s
Manipulator / Typical power consumption
370 W
CS-11P - manual3.4 / CS-11P (3.4) supply
100–240 V AC / 47–63 Hz (CS-11P;manual 3.4, separate controller configuration)
CS-12P - manual3.4 / CS-12P (3.4) supply
22–60 V DC (CS-12P;manual 3.4, separate controller configuration)
Teaching and software - catalog / Cockpit
Optional (Direct teaching and advanced software features)
CS-01 - catalog / CS-01 dimensions W×D×H
525 × 287 × 390 mm (CS-01 controller, not manipulator)
CS-02 - catalog / CS-02 dimensions W×D×H
462 × 218 × 295 mm (CS-02 controller, not manipulator)
CS-11 - catalog / CS-11 dimensions W×D×H
455 × 185 × 225.5 mm (CS-11 controller, not manipulator)
CS-11P - manual3.4 / CS-11P (3.4) OSSD I/O
2 / 2 channels (CS-11P;manual 3.4, separate controller configuration;catalog separately 4OSSD in)
CS-11P - manual3.4 / CS-11P (3.4) material
Zinc plated steel (CS-11P;manual 3.4, separate controller configuration)
CS-12 - catalog / CS-12 dimensions W×D×H
455 × 185 × 225.5 mm (CS-12 controller, not manipulator)
CS-12P - manual3.4 / CS-12P (3.4) OSSD I/O
2 / 2 channels (CS-12P;manual 3.4, separate controller configuration;catalog separately 4OSSD in)
CS-12P - manual3.4 / CS-12P (3.4) material
Zinc plated steel (CS-12P;manual 3.4, separate controller configuration)
CS-11P - catalog / CS-11P dimensions W×D×H
606 × 306.9 × 446 mm (CS-11P controller, not manipulator)
CS-11P - manual3.4 / CS-11P (3.4) I/O supply
24 V DC (CS-11P;manual 3.4, separate controller configuration)
CS-12P - catalog / CS-12P dimensions W×D×H
606 × 306.9 × 446 mm (CS-12P controller, not manipulator)
CS-12P - manual3.4 / CS-12P (3.4) I/O supply
24 V DC (CS-12P;manual 3.4, separate controller configuration)
Safety - catalog declarations / Robot standards
EN ISO 10218-1 /EN ISO 13849-1 (Manufacturer catalog declaration)
Safety - catalog declarations / Conformity marks
KCs /CE /NRTL (Manufacturer catalog declaration)
CS-11P - manual3.4 / CS-11P (3.4) FANUC interface
FOCAS (CS-11P;manual 3.4, separate controller configuration)
CS-12P - manual3.4 / CS-12P (3.4) FANUC interface
FOCAS (CS-12P;manual 3.4, separate controller configuration)
Teaching and software - catalog / CS-11/12 software
DART-Suite Ecosystem (CS-11/12/11P/12P, catalog; P3020 excluded)
Environment and document versions / Flange connector
1424229, female (PHOENIX) (Manual 3.4)
Environment and document versions / Flange3.4 X1 I/O
3 DI /3 DO (Manual 3.4;catalog separately states 2DI / 2DO, hardware revision must match)
Environment and document versions / Flange3.4 X2 I/O
3 DI /3 DO (Manual 3.4;not combined with another revision)
Environment and document versions / Mass, manual 3.4
32 kg (Catalog states a different mass; hardware revision unverified)
Teaching and software - catalog / Teach Pendant mass
0.8 kg
Teaching and software - catalog / Controller software
DART-Platform / DART-Studio / App Builder (Selected controller determines software set; DART-Studio: DRL and Simulator)
Teaching and software - catalog / Teach Pendant cable
4.5 / 2.5 m
Safety - catalog declarations / Other safety functions
PLd /Cat.3 (Other safety functions per catalog)
Environment and document versions / Storage, manual 3.4
−5…50 °C
Teaching and software - catalog / Teach Pendant display
10.1 in (Pendant;optional with classic A, included with P/H/M and CS-11/12)
Environment and document versions / Humidity, manual 3.4
20–80 % RH
Teaching and software - catalog / Teach Pendant protection
IP40
Safety - catalog declarations / Emergency-stop safety level
PLe /Cat.4 (Emergency-stop system per catalog)
Teaching and software - catalog / CS-11/12 client platforms
Windows /Mac(M1,M2) /Android (Compatible CS-11/12/11P/12P;catalog excludes P3020)
Controller communication and I/O - catalog / Controller TCP/IP
Supported
Controller communication and I/O - catalog / Controller serial
RS232 / RS422 / RS485 (Via USB–Serial converter, not included)
Environment and document versions / Catalog operating temperature
0–45 °C (English catalog)
Controller communication and I/O - catalog / Controller Modbus RTU
Master
Controller communication and I/O - catalog / Controller Modbus TCP
Master / Slave
Controller communication and I/O - catalog / CS-11/12/11P/12P AI/AO
2 / 2 channels (Catalog; P3020 excluded from this common group)
Controller communication and I/O - catalog / CS-11/12/11P/12P DI/DO
16 /16 channels (Catalog; P3020 excluded from this common group)
Controller communication and I/O - catalog / Controller EtherNet/IP
Adapter
Controller communication and I/O - catalog / Controller PROFINET IO
Device
Environment and document versions / Manual 3.4 operating temperature
0–45 °C (Manual 3.4, exact series)
Controller communication and I/O - catalog / Classic controller AI/AO
2 / 2 channels (CS-01P/CS-01/CS-02/CS-03/CS-04, where compatible)
Controller communication and I/O - catalog / Classic controller DI/DO
16 /16 channels (CS-01P/CS-01/CS-02/CS-03/CS-04, where compatible)
Controller communication and I/O - catalog / CS-11/12/11P/12P I/O supply
24 V / 2 A (Catalog; P3020 excluded from this common group)
Controller communication and I/O - catalog / CS-11/12/11P/12P OSSD inputs
4 channels (Catalog; P3020 excluded from this common group)
Controller communication and I/O - catalog / Classic controller I/O supply
24 V / 2 A (CS-01P/CS-01/CS-02/CS-03/CS-04, where compatible)
Controller communication and I/O - catalog / CS-11/12/11P/12P encoder inputs
2 units (Catalog; P3020 excluded from this common group)
Controller communication and I/O - catalog / Classic controller encoder inputs
1 units (CS-01P/CS-01/CS-02/CS-03/CS-04, where compatible)
Verified ecosystem
Software and resources
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verified official resources
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verified compatible projects
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public maintainers
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Official resources
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Official software
No official software project has been verified yet.
Community projects
No verified community project has been linked yet.
Developers and contributors
No public maintainer profile is linked yet.
Verified activity
No verified project activity is available.
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Imported from the Unibot owner catalog · Not independently verified · Imported 2026-11-11 · Unibot source · Methodology