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3 photos

Product images © Doosan Robotics, shown for identification. Official source ↗.

Documents

Manufacturer Datasheet Doosan Robotics Catalog (PDF)

Collaborative 🇰🇷 South Korea

Doosan Robotics

A0509F

NSF-certified food-and-beverage variant of the A0509 — a 5 kg, 900 mm-reach cobot built for NSF Food Zone/Splash Zone hygienic duty in F&B production, packaging and portioning lines.

Payload

5 kg

@ full reach: usually lower

Reach

900 mm

Repeatability

±0.03 mm

Full specifications

Performance

How much it lifts, how far it reaches, how precisely it repeats.

Payload Maximum mass the robot can carry at the wrist flange, including the gripper/tool. Higher means it can handle heavier parts.: 5 kg

17th pct in class
Reach Maximum horizontal distance from the base axis to the wrist — defines the size of the work area. Higher means a larger envelope.: 900 mm

28th pct in class
Repeatability How close the robot returns to the same taught point on repeated tries (ISO 9283, ±). Lower is better — tighter precision.: 0.03 mm

53th pct in class
Axes (DOF) Number of independently driven joints / degrees of freedom. 6 is standard for articulated arms; 4 for SCARA/palletizers; 7 adds elbow redundancy.: 6
Max TCP speed Top linear speed of the tool centre point. Higher means faster cycle times.: 1,000 mm/s

0th pct in class

Motion range & speed

Per-axis travel limits and rotational speeds.

Max axis speed Highest rotational speed of the fastest joint. Higher helps short, fast moves.: 360 °/s

75th pct in class

Axis	Range	Max speed
J1	-360° to 360°	180 °/s
J2	-360° to 360°	180 °/s
J3	-160° to 160°	180 °/s
J4	-360° to 360°	360 °/s
J5	-360° to 360°	360 °/s
J6	-360° to 360°	360 °/s

Physical

Size, mass and how it mounts.

Robot weight Mass of the manipulator (arm) without controller. Lighter eases mounting and mobile use; heavier often means stiffer/higher payload.: 21 kg
Mounting Orientations the robot can be installed in (floor, ceiling/inverted, wall, tilted, mobile base).: floor, ceiling, wall, tilted

Safety

Standards met and collaborative-operation capability.

Collaborative Whether the robot is designed to work safely next to people without fencing (power-and-force-limited).: Yes
Safety standards Certified safety standards (ISO 10218-1, ISO/TS 15066) and functional-safety level (PLd/PLe, SIL2/3).: ISO 10218-1, ISO/TS 15066, PLd Cat.3, NSF Food Zone, NSF Splash Zone
Collab features Collaborative safety functions: power-force-limiting, speed-and-separation monitoring, hand-guiding, safety-rated stops.: power-force-limiting, speed-and-separation-monitoring, safety-rated-stop, hand-guiding
Cert. cobot payload Payload at which collaborative (force-limited) operation is still certified.: 5 kg

16th pct in class

Control & software

Programming, languages and ecosystem.

Programming How the robot is taught: pendant, hand-guiding (lead-through), block/flow-chart, scripting, offline simulation.: teach-pendant, lead-through, block-programming, script
Languages Native robot programming language(s) — e.g. KRL (KUKA), RAPID (ABB), URScript (UR), INFORM (Yaskawa).: DRL (Doosan Robot Language)
Teach pendant The handheld programming/jog device supplied.: 10.1" touchscreen tablet pendant (DART-Suite)
Offline programming Whether programs can be built and validated offline in a digital twin before deployment.: Yes

Connectivity & I/O

Signals, fieldbuses and tooling interfaces.

Fieldbus Industrial networks supported for PLC/cell integration (PROFINET, EtherNet/IP, EtherCAT, Modbus TCP, CC-Link, etc.).: EtherNet/IP, PROFINET, Modbus TCP, EtherCAT

Industrial Robotics Hub — industrialroboticshub.com

Safety certifications

ISO 10218-1 — the primary industrial-robot safety standard covering design and construction requirements
ISO/TS 15066 — the safety standard for collaborative robots working near people (force and speed limits)
PLd Cat.3 — high safety-integrity (PLd) with a dual-channel architecture that tolerates one fault without losing the safety function
NSF Food Zone
NSF Splash Zone

Specifications sourced from Doosan Robotics official datasheet ↗. Specs last verified 2026-08-31.

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