Doosan A0509, User Manual

Page: 136 / 253

Doosan Robotics User Manual v2.6.1 136
No. Item Description

Annotate : Annotates a command to exclude the
corresponding command from execution during task
execution.
2 Task List
Displays the task order and a list of commands added from the
Command tab. When a task is created,
GlobalVariables , MainSub
and EndMainSub commands are added automatically.
3 Command
Displays a list of commands to add to the Task List. Selecting a
command will add it to the Task List.
4 Property
Check and edit the settings of the command added to the task list.
5 Variable
Adds a system variable or tracks global and system variables used in
a task.
6 Play
Executes the task currently being configured in virtual/ream mode.
Note

GlobalVariables : The global variable and global pose of the task program can be entered in
the Property tab of GlobalVariables , and predefined global variables and global poses can be
used in the property screen of the command added in the task list.

MainSub and EndMainSub : The command selected by the user is added to the bottom of the
MainSub, and commands are executed in the order of commands located at the bottom of
MainSub to commands located at the top of MainSub.

When monitoring is performed with a variable registered in the Variable tab, the value change
frequency may be too fast to display the value on the screen.

System variables can be registered without any limit on the number starting from software
version V2.8.

If there are too many system variables registered, there may be long loading times for task
execution.