Doosan M0609 User Manual page 103

Commands, and Advanced Commands.
• Motion Command: These are commands used to adjust or change the robot pose.
Move J
Move L
Move SX
Move SJ
Move C
Move B
Move Sprial
Move Periodic
Move JX
Stop Motion
• Flow Control and Other Commands: These can control the task flow through task standby,
repeat, executing commands included in the task and conditions.
If
Else If
Repeat
Continue
Break
Exit
This is the command to move the robot to the target joint coordinate.
This is the command to move the robot along a straight line to the
target work space coordinate.
This is the command to move the robot along a curved path
connecting multiple via points and target points within a work space.
This is the command to move the robot along a curved path
connecting multiple via points and target points expressed as a joint
coordinate.
This is the command to move the robot along an arc composed of a
current point, via point and target point.
This is the command to move the robot along a straight line and an
arc composed of multiple via points and target points within a work
space.
This is the command to move the robot along a path extending to the
outer side from the center of a spiral.
This is the command to move the robot along a path repeated
periodically.
This is the command to move the robot to the target work space
coordinate and joint form. This does not move along a straight line.
This is used to stop task execution.
This is used to branch according to a specific condition during
task execution.
This is used to branch according to a specific condition during
task execution.
This is used to repeat the task command.
This is used to return to the first command of a repetition
statement (Repeat).
This is used to exit the repeat execution command (Repeat).
This is used to end task execution.
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