Doosan H2017 - Task Writer Command

Doosan Robotics User Manual v2.6.1
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9.3 Task Writer Command
The commands available in the Task Writer are Motion Commands, Flow Control and Other
Commands, and Advanced Commands.
• Motion Command: These are commands used to adjust or change the robot’s pose.
Move J
Used to move the robot to the target joint coordinates.
Move L
Used to move the robot along a line towards the target work space
coordinate.
Move SX
Used to move the robot along a curved line connecting multiple via
points and target points within the workspace.
Move SJ
Used to move the robot along a curved line connecting multiple via
points and target points expressed as a joint coordinate.
Move C
Used to move the robot along an arc composed of a current point,
via point and target point.
Move B
Used to move the robot along a line and arc connecting multiple via
points and target points within the workspace.
Move Spiral
Used to move the robot along a path extending to the outer side from
the center of a spiral.
Move Periodic
Used to move the robot along a path repeated periodically.
Move JX
Used to move the robot to the target workspace coordinate and joint
form. This does not move along a straight line.
Stop Motion
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.
If
This is used to branch according to a specific condition during task
execution.
Else If
This is used to branch according to a specific condition during task
execution.
Repeat
This is used to repeat the task command.
Continue
This is used to return to the first command of a repetition statement
(Repeat).
Break
This is used to exit the repeat execution command (Repeat).
Exit
This is used to end task execution.
Sub
This is used to define a subroutine within the task.