8.2 Task Builder Commands
The user can create task programs using motion commands, flow control and other commands and
skill commands from Task Builder. For more information about commands, refer to the manual
provided separately.
• Motion Command: These are commands used to adjust or change the robot’s pose.
Used to move the robot to the target joint coordinates.
Used to move the robot along a line towards the target work space
coordinate.
Used to move the robot along a curved line connecting multiple via
points and target points within the workspace.
Used to move the robot along a curved line connecting multiple via
points and target points expressed as a joint coordinate.
Used to move the robot along an arc composed of a current point,
via point and target point.
Used to move the robot along a line and arc connecting multiple via
points and target points within the workspace.
Used to move the robot along a path extending to the outer side from
the center of a spiral.
Used to move the robot along a path repeated periodically.
Used to move the robot to the target workspace coordinate and joint
form. This does not move along a straight line.
This is used to stop task execution.
• Flow Control and Other Commands: These can control the task flow through task standby,
repeat, executing commands included in the task and conditions.
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).
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