Doosan Robotics User Manual v1.9
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If
This is used to branch according to a specific condition during task
execution.
Call Sub
This is used to execute the defined subroutine.
Thread
This is used to define a thread within the task.
Run Thread
This is used to execute the defined thread.
Kill Thread
This is used to end thread execution.
Sub Task
This is a command to define a thread within the task.
Call Sub Task
This is a command to execute a defined subtask.
Wait
This is used to temporarily stop task execution.
User Input
This is used to receive user input and save it in a variable during task
execution.
Watch Smart
Pendant
This is used to control the Function button.
•
Force Control Command
: The force of the robot can be controlled during task execution.
Compliance
This is used to control Compliance during task execution.
Force
This is used to control force during task execution.
•
Other Commands
: There are commands that weigh the item and receive user input.
Comment
This is used to save the user-designated information in a log during
task execution.
Custom Code
This is used to insert and execute a DRL code during task execution.
Define
This is used to define a variable during task execution.
Popup
This is used to display a popup screen during task execution.
Set
This is used to execute various settings during task execution.
Weight Measure
This is used to measure the weight during task execution and save it
in a variable.
Wait Motion
This is used to temporarily stop the robot after the previous motion
command is complete.
GlobalVariables
This is used to add a Global Variable.
•
Advanced Commands
: There is a command to execute Hand-guiding.
Hand Guide
This is used to execute direct teaching during task execution.
Summary of Contents for M0609
Page 1: ...Manual Version 1 9 Software Version 2 5 ...
Page 21: ...21 For information about additional modules refer to corresponding manuals ...
Page 59: ...59 Tapping the Edit button cannot edit the setting but deletion is possible ...
Page 75: ...75 A Series does not feature Auto Calculate for weight ...