Doosan A0509, Руководство пользователя

Страница: 170 / 253

Doosan Robotics User Manual v2.6.1 170
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.

Messages are limited to within 256 bytes.

It is recommended that the text be concise. For long text, some
content is omitted with an ellipsis (…).

Formatting code such as newline (\n) or carriage return (\r) is not
allowed.
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.
Nudge
This is used to delay task execution until Nudge (applying force to
the robot) input.

In models without Force Toque Sensors, Rx, Ry and Rz values of
Weight Measure, Nudge
,
Compliance commands, and A, B and C values of
Force
command are not supported.

The Watch Smart Pendant command provides functions to control conditions using the
Function button of the Smart Pendant