Doosan M0609 User Manual page 6

8.7.1
8.7.2
8.7.3
8.8 Execute Task Program .................................................................................. 152
8.8.1
8.8.2
8.8.3
8.8.4
9. Task Writer ............................................................................ 159
9.1 Task Management .......................................................................................... 159
9.1.1
9.1.2
9.1.3
9.1.4
9.1.5
9.1.6
9.1.7
9.1.8
9.2 Edit Task Program .......................................................................................... 167
9.3 Task Writer Command ................................................................................... 168
9.4 Setting and Applying Command Properties ............................................. 171
9.5 Execute Task Program .................................................................................. 172
9.6 Debug Screen .................................................................................................. 173
10. Monitoring and Testing ........................................................ 174
10.1 Screen Layout ................................................................................................. 174
10.2 I/O Status Check ............................................................................................. 176
10.2.1 Controller/Flange Digital Input Check ................................................................................................... 176
10.2.2 Controller Analog Input Check .............................................................................................................. 177
10.2.3 Controller/Flange Digital Output Setting ............................................................................................... 178
10.2.4 Controller Analog Output Setting .......................................................................................................... 179
Doosan Robotics User Manual v2.6.1
Understanding Basic Principles of Skill Commands ........................................................................... 146
Compliance Control and Contact Check ............................................................................................. 149
Skill Command Work Point Setting with Cockpit Buttons .................................................................. 151
Virtual mode screen ............................................................................................................................... 152
Real Mode Screen: End Effector Information tab ............................................................................... 154
Real Mode Screen: I/O Information Tab .............................................................................................. 156
Execute Task ......................................................................................................................................... 158
Create New Task ................................................................................................................................... 159
Save Task .............................................................................................................................................. 160
Save Task As ......................................................................................................................................... 161
Save Task on External Storage Device ............................................................................................... 162
Load Saved Tasks ................................................................................................................................ 163
Delete Saved Tasks .............................................................................................................................. 164
Import Tasks on External Storage Devices ......................................................................................... 165
Export Task to External Storage Device .............................................................................................. 166
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