> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/doosan.md).

# Doosan

Read the pose of Doosan robots.

Doosan robots can be **read, not moved**, from the Integration Flow, over Modbus TCP. You'll find the nodes under **doosan** in the palette.

## Connect

Add a **Doosan Connection** configuration node:

| Setting        | Default           |
| -------------- | ----------------- |
| Host           | `192.168.255.100` |
| Port           | `502`             |
| Unit ID        | `1`               |
| Start register | `401`             |
| Scale          | `0.1`             |

## Nodes

| Node     | What it does                                                                       |
| -------- | ---------------------------------------------------------------------------------- |
| Get Pose | Reads six registers from the start register and outputs the pose in `msg.payload`. |

The raw register values are available in `msg.registers`.

Moving a Doosan robot from the Integration Flow is not supported. Program the motion on the robot, or send the result to it through a [PLC](/docs/overview/hands-on/integrating-your-robot/integration-flow/plcs.md) or [OPC UA](/docs/overview/hands-on/integrating-your-robot/integration-flow/protocols/opc-ua.md).

## Coordinate convention

Doosan uses the **Comau (rzyz)** rotation convention. Select it in the Product UI settings at `http://[serial-number].local:3000/settings`, so poses arrive in the form your Doosan robot program expects. See [Coordinate Conventions](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).