Doosan M0609 User Manual page 147

Move to Reference Pose: This is the point on the workpiece where the End Effector performs work.
To set detailed coordinates other than the velocity and acceleration for the reference pose, press the
button on the right side of the reference pose. However, using the relative coordinates tab while setting
the detailed motion can cause a malfunction during skill execution, so make sure to use the absolute
coordinates for reference point teaching.
Move to Retract Pose: This is the point to pick up the workpiece and move it safely to another point. It
is the Z direction from the Approach Pose, and a different direction can also be selected. The Retract
Distance entered is automatically calculated for the Action Pose and moves to the corresponding point.
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