Doosan M0609 User Manual page 104

If
Sub
Call Sub
Thread
Run Thread
Kill Thread
Sub Task
Call Sub Task
Wait
User Input
• 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.
Comment
Custom Code
Define
Popup
Set
Weight Measure
Wait Motion
Doosan Robotics User Manual v1.7
This is used to branch according to a specific condition during
task execution.
This is used to define a subroutine within the task.
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 the command to define a thread within the task.
This is the command to execute the 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.
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.
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 pop-up screen during task execution.
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.
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