Commands

In the Task Editor, you can create a task program using Move Commands, Flow Control, Signal Commands, Other Commands, Force Control Commands, and Advanced Commands.

Move Commands

These are commands used to adjust or change the robot’s pose.

Move	Move to a saved waypoint position using the selected motion type. (ex. Move J, Move L)
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 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 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 JX	Used to move the robot to the target workspace coordinate and joint form. This does not move along a straight line.
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.
Stop Motion	This is used to stop task execution.
Wait Motion	This is used to temporarily stop the robot after the previous motion command is complete.

Flow Control

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).
Sub	This is used to define a thread within the task.
Call Sub	This is used to execute the defined thread.
Sub Task	This is used to temporarily stop task execution.
Call Sub Task	This is used to receive user input and save it in a variable during task execution.
Break	This is used to exit the repeat execution command (Repeat).
Exit	This is used to end task execution.
Wait	This is used to control the Function button.
User Input	This is used to branch according to a specific condition 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.
Thread	This is used to end thread execution.
Run Thread	This is a command to define a thread within the task.
Kill Thread	This is a command to execute a defined subtask.
Folder	This is a command to create folder for grouping multiple commands.

Signal Commands

These can control signalling during task execution.

Add Signal	Add a signal. Modbus TCP Modbus RTU FOCAS TCP Client TCP Server Serial
Get Signal	Get signal values. Digital I/O Analog I/O Industrial Ethernet Modbus TCP Modbus RTU FOCAS TCP Client TCP Server Serial
Set Signal	Set the value of a signal. Digital I/O Analog I/O Industrial Ethernet Modbus TCP Modbus RTU TCP Client TCP Server Serial
Delete Signal	Delete a signal.

Other Commands

There are commands that weigh the item and receive user input.

Note

Repeated usage of specific commands regarding the screen UI may result in reduced system performance, less responsive screen UI, and abnormal operation of the program.
It is not recommended to perform commands such as Set and Comment over 50 times per second.

Comment	This is used to save the user-designated information in a log 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.
Custom Code	This is used to insert and execute a DRL code during task execution.
Define	This is used to define a variable during task execution.
Popup	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.
Set	This is used to execute various settings during task execution.
Weight Measure	This is used to measure the weight during task execution and save it in a variable. This is not supported for the A and E models.
Global Variables	This is used to add Global Variable.

Force Control Commands

The force of the robot can be controlled during task execution.

Compliance	This is used to control Compliance during task execution.
Force	This is used to control force during task execution.

Advanced Commands

There is a command to execute Hand-guiding.

Hand Guide	This is used to execute direct teaching during task execution.
Nudge	This is used to delay task execution until Nudge (applying force to the robot) input. This is not supported for the A and E models.