Doosan M0609 Reference Manual page 44

Move to Action Start Pose: If the End Effector execution target does not end with a single motion,
there may be an intermediate point and an end point, and the Action Start Pose is the point where the
work starts. (e.g., Door Open Skill - Start Pose, Screw Drive Skill – Start Pose)
Move to Action End Pose: If the End Effector execution target does not end with a single motion,
there may be an intermediate point and an end point, and the Action End Pose is the point where the
work ends. (e.g., Door Open Skill – End Pose, Screw Drive Skill – End Pose)
Doosan Robotics Reference Manual v1.5 44