Doosan M0609, Руководство пользователя

Страница: 112 / 190

Doosan Robotics User Manual v1.9 112
Note

GlobalVariables : The global variable and global pose of the task program can be entered in
the Properties 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.
8.4.2 Add Command
To add a command, follow these steps:
1
Select the location to add a command in the Task List.

A command is added to the next line of the selected location.
2
Select the command to add from the Command tab.
8.4.3 Delete Command
To delete a command, follow these steps:
1
Select a command to delete and tap the Delete button in the command edit tools.
2
When a confirmation window appears, tap the Confirm button.
8.4.4 Paste command
To copy/cut and paste a command to the task list, follow these steps:
1
Select command to copy or cut.
2
Tap the Copy or Cut button on the command edit tool.