Doosan M0609 User Manual page 5

8.5 Setting and Applying Command Properties .............................................. 114
8.6 Motion Command Property Setting ............................................................. 115
8.6.1 Waypoint Setting ....................................................................................................................................................... 115
8.6.2 Speed Setting ............................................................................................................................................................. 115
8.6.3 Operation Mode Setting .......................................................................................................................................... 116
8.6.4 Blending Mode Setting ............................................................................................................................................ 116
8.6.5 Multi-Segment (Waypoint) Setting ....................................................................................................................... 116
8.7 Skill Command Property Setting .................................................................. 118
8.7.1 Understanding Basic Principles of Skill Commands ...................................................................................... 118
8.7.2 Compliance Control and Contact Check ........................................................................................................... 121
8.7.3 Skill Command Work Point Setting with Cockpit Buttons ............................................................................. 122
8.8 Execute Task Program ................................................................................... 123
8.8.1 Virtual mode screen .................................................................................................................................................. 123
8.8.2 Real Mode Screen: End Effector Information tab ............................................................................................ 124
8.8.3 Real Mode Screen: I/O Information Tab ............................................................................................................ 127
8.8.4 Execute Task.............................................................................................................................................................. 129
9. Task Writer ............................................................................ 130
9.1 Task Management ........................................................................................... 130
9.1.1 Create New Task ...................................................................................................................................................... 130
9.1.2 Save Task ................................................................................................................................................................... 130
9.1.3 Save Task As ............................................................................................................................................................. 130
9.1.4 Save Task on External Storage Device ............................................................................................................. 131
9.1.5 Load Saved Tasks ................................................................................................................................................... 131
9.1.6 Delete Saved Tasks ................................................................................................................................................. 131
9.1.7 Import Tasks on External Storage Devices ....................................................................................................... 131
9.1.8 Export Task to External Storage Device ............................................................................................................ 132
9.2 Edit Task Program ........................................................................................... 134
9.3 Task Writer Command .................................................................................... 135
9.4 Setting and Applying Command Properties .............................................. 138
9.5 Execute Task Program ................................................................................... 139
9.6 Debug Screen ................................................................................................... 140
10. Monitoring and Testing ........................................................ 141
10.1 Screen Layout .................................................................................................. 142
10.2 I/O Status Check .............................................................................................. 143
10.2.1 Control Box/Flange Digital Input Check .............................................................................................................. 143
10.2.2 Control Box Analog Input Check .......................................................................................................................... 143
10.2.3 Control Box/Flange Digital Output Setting .......................................................................................................... 143
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