Doosan M0609 User Manual page 78

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
Sub
Call Sub
Thread
Run Thread
Kill Thread
Sub Task
Call Sub Task
Doosan Robotics User Manual v1.7
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.
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.
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