Doosan Robotics User Manual v2.6.1
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 popup screen during task execution.
Messages are limited to within 256 bytes.
It is recommended that the text be concise. For long text, some
content is omitted with an ellipsis (…).
Formatting code such as newline (\n) or carriage return (\r) is not
allowed.
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.
This is used to add a Global Variable.
• Advanced Commands: There is a command to execute Hand-guiding.
This is used to execute direct teaching during task execution.
This is used to delay task execution until Nudge (applying force to
the robot) input.
In models without Force Toque Sensors, Rx, Ry and Rz values of Weight Measure, Nudge,
Compliance commands, and A, B and C values of Force command are not supported.
The Watch Smart Pendant command provides functions to control conditions using the
Function button of the Smart Pendant
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