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.

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 thread within the task.
Call Sub	This is used to execute the defined thread.
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.
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.
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.
Watch Smart Pendant	This is used to repeat the task command.

Force Control Command

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.

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.
Wait Motion	This is used to temporarily stop the robot after the previous motion command is complete.
GlobalVariables	This is used to add Global Variable.

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.

Skill Commands

This is an application command preset for using Workcell Items on the robot. A series of commands, including robot motion and I/O signals, are contained within a single skill. When a skill command is used, it is possible to easily configure jobs related to the Workcell Item without complicated programming. To use command skills, it is necessary to configure the work and related Workcell items. For more information about skill command list and configurations, refer to the manual provided separately.