Real Mode Screen: End Effector Information tab

The real mode screen end effector information tab of Task Builder is structured as follows:

No.	Item	Description
1	Real Mode ( )	Sets the robot test play mode. Real mode: Operates an actual robot to test the task in the task list. Virtual mode: Uses a simulator screen to test the task in the task list.
2	Total time	Displays the total time elapsed after the task execution.
3	Total count	Displays the total number of task executions.
4	Average execution time	Displays the average time spent to execute one cycle of the task in the task list.
5	Information Screen Shift Tab	You can switch between the robot information message screen, end-effector information screen, and input/output information screen. Information Messages tab: Displays information messages that occur during playback. End Effector Information Tab: Displays the center point of the robot tool, the tool weight and the collision and force information. I/O Information Tab: Displays the I/O information of the controller and the flange.
6	Tool center point information area	Displays the tool center point information configured through the tool center point and weight configuration functions of the set TCP command or the jog.
7	Tool weight information	Displays the tool weight information configured through the tool center point and weight configuration functions of the set TCP command or the jog.
8	Collision information area	Displays the collision sensitivity value set for the area where the robot is currently positioned.
9	Force information area	It displays the force information occurring in the Base, World, User, and Reference coordinate systems. The Reference coordinate system displays force based on the coordinate system information applied to the robot.
10	Speed slider	It sets the speed of the robot in a real or a virtual mode.
11	Stop button	It stops the current task.
12	Execute/pause toggle button	It executes or pauses the work in the task list.
13	Time	It displays the time spent on the corresponding command/skill.

Caution

Before executing a task, execute the task in virtual mode to check whether the task operates as intended.
It is recommended to test the robot program by designating temporary waypoints outside another machine’s work space. Doosan Robotics is not responsible for damages that occur due to programming error or robot malfunctioning, as well as damage to the equipment.
The emergency stop button is located on the teach pendant. In an emergency situation, press the emergency stop button to stop the robot.
In the case of models without Force Toque Sensor, the force (X, Y, Z) values are not monitored.