Save Task on External Storage Device .............................................................................................................. 76

8.1.6

Load Saved Task ....................................................................................................................................................... 76

8.1.7

Delete Saved Task .................................................................................................................................................... 76

8.1.8

Import Task on External Storage Device ............................................................................................................ 76

8.1.9

8.2 Task Builder Command .................................................................................. 77

8.3 Deprecated Skill Command ............................................................................ 79

8.4 Edit Task ............................................................................................................. 80

Edit Task Screen Configuration ............................................................................................................................. 81

8.4.1

Add Command ........................................................................................................................................................... 82

8.4.2

Delete Command ...................................................................................................................................................... 82

8.4.3

Paste command ......................................................................................................................................................... 82

8.4.4

8.5 Setting and Applying Command Property .................................................. 83

8.6 Motion Command Property Setting .............................................................. 83

Waypoint Setting ........................................................................................................................................................ 83

8.6.1

Velocity Setting ............................................................................................................................................................ 84

8.6.2

Operation Mode Setting ........................................................................................................................................... 84

8.6.3

Blending Mode Setting ............................................................................................................................................. 84

8.6.4

Multi-Segment (Waypoint) Setting ........................................................................................................................ 86

8.6.5

8.7 Skill Command Property Setting ................................................................... 87

Understanding Basic Principles of Skill Commands ....................................................................................... 87

8.7.1

Compliance Control and Contact Check ............................................................................................................ 90

8.7.2

Skill Command Work Point Setting with Cockpit Buttons .............................................................................. 91

8.7.3

8.8 Execute Task Program .................................................................................... 91

Virtual mode screen ................................................................................................................................................... 92

8.8.1

Real mode screen: End Effactor Information tab .............................................................................................. 93

8.8.2

Real mode screen: I/O Information tab ................................................................................................................ 94

8.8.3

Execute Task ............................................................................................................................................................... 97

8.8.4

9. Task Writer .................................................................................. 98

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