Doosan M0609 User Manual page 133

Custom Code
Define
Popup
Set
Weight Measure
Wait Motion
GlobalVariables
•
Advanced Commands: There is a command to execute Hand-guiding.
Hand Guide
Nudge
•
Skill Commands: This is an application command preset for using Workcell Items on the robot. A
series of commands, including robot motion and I/O signals, are contained within a single skill.
When a skill command is used, it is possible to easily configure jobs related to the Workcell Item
without complicated programming. To use command skills, it is necessary to configure the work
and related Workcell items. For more information about skill command list and configurations,
refer to the manual provided separately.

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.
 Formatting code such as newline (\n) or carriage return (\r) is not
allowed.
This is used to insert and execute a DRL code during task execution.
This is used to define a variable during task execution.
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.
This is used to execute various settings during task execution.
This is used to measure the weight during task execution and save it
in a variable.
This is used to temporarily stop the robot after the previous motion
command is complete.
This is used to add Global Variable.
This is used to execute direct teaching during task execution.
This is used to delay task execution until Nudge (applying force to
the robot) input.
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