Doosan M0609 User Manual page 169

Call Sub
Thread
Run Thread
Kill Thread
Sub Task
Call Sub Task
Wait
User Input
Watch Smart
Pendant
•
Force Control Command: The force of the robot can be controlled during task execution.
Compliance
Force
•
Other Commands: There are commands that weigh the item and receive user input.
Note

Repeated usage of specific commands regarding the screen UI may result in reduced system
performance, less responsive screen UI, and abnormal operation of the program.

It is not recommended to perform commands such as Set and Comment over 50 times per
second.
Comment
This is used to execute the defined subroutine.
This is used to define a thread within the task.
This is used to execute the defined thread.
This is used to end thread execution.
This is a command to define a thread within the task.
This is a command to execute a defined subtask.
This is used to temporarily stop task execution.
This is used to receive user input and save it in a variable 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 control the Function button.
This is used to control Compliance during task execution.
This is used to control force during task execution.
This is used to save the user-designated information in a log 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.
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