Doosan M0609 Reference Manual page 130

Teaching points can be loaded by Task motion between Conveyor Tracking commands by referring to
the Pose Variable name.
In addition to workpiece coordinates, the teaching point supports teaching points in Base or World
Coordinates, and in order to use them, it is necessary to obtain the teaching points of the
corresponding coordinates in the Task Motion Property window.
Doosan Robotics Reference Manual v1.5 130