[{"id":"ci_c1d216a04817a4224619480bb8f34986dc770680bf20089f9c082e9fe6a9676c","title":"소개(Introduction)","path":"/ko/api/1.28/publish/introduction","children":[{"id":"ci_fd64b57f8482c2764eda699c60f7119829c42f7872f131d3ce16dc2df3b43d8b","title":"설치 가이드","path":"/ko/api/1.28/publish/--","children":[{"id":"ci_677bf4347590d0494727f7ea84549302216caed80067282215ad704bdc5eae01","title":"라이브러리 구성","path":"/ko/api/1.28/publish/-1","children":[]},{"id":"ci_bfa986f55de7cc56999ba9227d03c3abfaf311cddb46871f21cbbb8f784e050d","title":"라이브러리 링크하기","path":"/ko/api/1.28/publish/-10","children":[]},{"id":"ci_3c4ed07455cd6f676e00fa14c054938f49ff4c8030b750b761830b35566a373b","title":"헤더파일 사용하기","path":"/ko/api/1.28/publish/-11","children":[]},{"id":"ci_56e53763406290f2d9fb08309d93b2949b7f9ec5d9e874b2cd129111a2e0b43c","title":"권장 운용 사양","path":"/ko/api/1.28/publish/-12","children":[]}]},{"id":"ci_e8765a007807cb6717ece7ccf06203fa3002fb6069ce19ac553087219d4e5e3b","title":"프로그래밍 유의사항","path":"/ko/api/1.28/publish/-13","children":[{"id":"ci_a186d08ea2a07a183b4239b2f58b3469c877de5096c3afafbe4b0c177116940c","title":"로봇 연결/해제","path":"/ko/api/1.28/publish/-14","children":[]},{"id":"ci_f6264ec7174a0e45cfce762027db4c15990894a86a90b4f58d4c5163c3e068a4","title":"로봇 초기화","path":"/ko/api/1.28/publish/-15","children":[]},{"id":"ci_644a39957c9d6763a40b7846d15b4c7fde98b09ebea292184de5c19aa301952a","title":"제어권 관리","path":"/ko/api/1.28/publish/-16","children":[]},{"id":"ci_c66cc43703d9fd19f97e8120b91f71f16d4096358c49af877d2613dd0fe56fe7","title":"로봇 운용 모드","path":"/ko/api/1.28/publish/-5","children":[]},{"id":"ci_5bae09c7768f529fb61c591ff2e70de6e6e76914b112aabb58035abda76f4477","title":"로봇 운용 상태","path":"/ko/api/1.28/publish/-2","children":[]},{"id":"ci_d269dbd415081a32a476d56e834fbc7924bf94f3eb6c5569725ede9196015e5f","title":"로봇 상태 천이","path":"/ko/api/1.28/publish/-3","children":[]},{"id":"ci_1df19b04b8ef689361184cf8d66573f0aa51022a6392123b97c3b90755f44e19","title":"프로그램 실행 및 종료","path":"/ko/api/1.28/publish/-4","children":[]},{"id":"ci_f57587f9780122efd37c3c21eb436ec00c793f2c785668d7a54a6a7b7ca40403","title":"로봇 안전 설정 기능 제한","path":"/ko/api/1.28/publish/-17","children":[]}]}]},{"id":"ci_7fbf1b8c30b44fdfabfe2a51c7514cf1bb17b76607ab585c29b71b0c4b91233f","title":"정의(Definition)","path":"/ko/api/1.28/publish/definition","children":[{"id":"ci_612effd6c26f64fae8530543174e33d3580b277ab92411d2e5f50fde16830738","title":"상수 및 열거형 정의","path":"/ko/api/1.28/publish/-18","children":[{"id":"ci_1f50e2c8558371587353d6385be61a940c84390dc3216d1e7db76b6371b8123e","title":"enum.ROBOT_STATE","path":"/ko/api/1.28/publish/enum-robot_state","children":[]},{"id":"ci_cca2893f4a4b3c2d74d07392dd77ab35d7a804077f44e8cc21381e10a8e52829","title":"enum.ROBOT_CONTROL","path":"/ko/api/1.28/publish/enum-robot_control","children":[]},{"id":"ci_1612ed417f26a989215293c834df186fa1cc74d4685e683b1a9e666aa1b52ce3","title":"enum.MONITORING_SPEED","path":"/ko/api/1.28/publish/enum-monitoring_speed","children":[]},{"id":"ci_345f8d44523507aa5c2050f7696ed42c23a1c5703cd07ac70708489dba5e07ac","title":"enum.SPEED_MODE","path":"/ko/api/1.28/publish/enum-speed_mode","children":[]},{"id":"ci_4aa5d3d1f13784e76b9a8743660465f749710e5b0a76f1ef04cc1778c7ef04fb","title":"enum.ROBOT_SYSTEM","path":"/ko/api/1.28/publish/enum-robot_system","children":[]},{"id":"ci_a586c6572d752ff75e03416919948d1ceea7f3b119bffa58fd5f34f6f75f20c0","title":"enum.ROBOT_MODE","path":"/ko/api/1.28/publish/enum-robot_mode","children":[]},{"id":"ci_1fc0f7599b763fb2f0238994b5e4a340cba0e5cc062fb7cd1e477ff0ec40b7dd","title":"enum.ROBOT_SPACE","path":"/ko/api/1.28/publish/enum-robot_space","children":[]},{"id":"ci_433e1a203131c7873515019b530742b83bd9bf9f7e27780a396a593f297e9296","title":"enum.SAFE_STOP_RESET_TYPE","path":"/ko/api/1.28/publish/enum-safe_stop_reset_type","children":[]},{"id":"ci_002bb8b25aae0f8ffb46e87ad05615461f39ea8d0b2dacf6996365ce0047f57e","title":"enum.MANAGE_ACCESS_CONTROL","path":"/ko/api/1.28/publish/enum-manage_access_control","children":[]},{"id":"ci_e476e74a74ee25a521d55405b0c1e435774b65c244ca6d493a2d5593e2fc24b8","title":"enum.MONITORING_ACCESS_CONTROL","path":"/ko/api/1.28/publish/enum-monitoring_access_control","children":[]},{"id":"ci_550ce66b2aa9fe76572ae7f4c1f030f80fc5664b91e073783e67d888b6bbb91c","title":"enum.COORDINATE_SYSTEM","path":"/ko/api/1.28/publish/enum-coordinate_system","children":[]},{"id":"ci_53f65dde43bf3591f615fea53975d6ea9b506ef6ed3146d6a425f77d74b4a2c0","title":"enum.JOG_AXIS","path":"/ko/api/1.28/publish/enum-jog_axis","children":[]},{"id":"ci_856d83e60a1c23d24a88848394c940eb314a1689eaa423ea9bb4b3c17316d25b","title":"enum.JOINT_AXIS","path":"/ko/api/1.28/publish/enum-joint_axis","children":[]},{"id":"ci_a6508b0745e0c7406eeb1c33bbecbf53ddb06362e4b089456aa92f57304ff329","title":"enum.TASK_AXIS","path":"/ko/api/1.28/publish/enum-task_axis","children":[]},{"id":"ci_28e561cd24848ac738b3eb173fecddb2cae0dbf19fcc3fe8d79130d41ef7e815","title":"enum.FORCE_AXIS","path":"/ko/api/1.28/publish/enum-force_axis","children":[]},{"id":"ci_c0e53a42736fe276a9f989f09fce48cf11a13242ee8d6bc43b96fe9631b9277a","title":"enum.MOVE_REFERENCE","path":"/ko/api/1.28/publish/enum-move_reference","children":[]},{"id":"ci_8a7d097ed096f17ba1377e1bc7f47d365348f81c35b9f5ab1d2c995d81d52056","title":"enum.MOVE_MODE","path":"/ko/api/1.28/publish/enum-move_mode","children":[]},{"id":"ci_d6315fc96c389b3db7abb893fb3165f3ecca09906f31ef65591ffbbd9e8b9a0d","title":"enum.FORCE_MODE","path":"/ko/api/1.28/publish/enum-force_mode","children":[]},{"id":"ci_962c72b939843d9ae54859f67076f0ec05c2b7f448e49ccaec3f64fd07ef3e2c","title":"enum.BLENDING_SPEED_TYPE","path":"/ko/api/1.28/publish/enum-blending_speed_type","children":[]},{"id":"ci_6f7a8c480205c9513c4d7208310f7d6f5451df71b012301e038ec5ea2b380d36","title":"enum.STOP_TYPE","path":"/ko/api/1.28/publish/enum-stop_type","children":[]},{"id":"ci_2da738f896ab64dbd858f3b748003ee3f113953d37d47fed1723f4381552179f","title":"enum.MOVEB_BLENDING_TYPE","path":"/ko/api/1.28/publish/enum-moveb_blending_type","children":[]},{"id":"ci_6cea7f91d2c3370a99305bff797ab6ebaf40298db67fed6babe3aac5f9b256e0","title":"enum.SPLINE_VELOCITY_OPTION","path":"/ko/api/1.28/publish/enum-spline_velocity_option","children":[]},{"id":"ci_62f0712aee4d90a081d780e8dc184e8d499f6800b348b4eb7e00e7426b56d9be","title":"enum.GPIO_CTRLBOX_DIGITAL_INDEX","path":"/ko/api/1.28/publish/enum-gpio_ctrlbox_digital_index","children":[]},{"id":"ci_efd264ea7136b58ce94bff19129461f7e0eb13ba0c08f2321a5b9bfb5115d7e8","title":"enum.GPIO_CTRLBOX_ANALOG_INDEX","path":"/ko/api/1.28/publish/enum-gpio_ctrlbox_analog_index","children":[]},{"id":"ci_9a2bd2ae97568b8d76c27a6b1543cfef11c84f5a0e39d955ae0380792b2124e7","title":"enum.GPIO_ANALOG_TYPE","path":"/ko/api/1.28/publish/enum-gpio_analog_type","children":[]},{"id":"ci_7323b7da1af6f536ea13ad38f85d28bbf1e3aabdf24222ecf6800b9ccb8794e8","title":"enum.GPIO_TOOL_DIGITAL_INDEX","path":"/ko/api/1.28/publish/enum-gpio_tool_digital_index","children":[]},{"id":"ci_04053696271f1581f8eca5a4565b340904b52cb0f126adabd4cf19b8f8a1c6e4","title":"enum.MODBUS_REGISTER_TYPE","path":"/ko/api/1.28/publish/enum-modbus_register_type","children":[]},{"id":"ci_72965b611e23f3d9e1440964e97c5d26bff453329bf8cfa9881f71cbf09c85a1","title":"enum.DRL_PROGRAM_STATE","path":"/ko/api/1.28/publish/enum-drl_program_state","children":[]},{"id":"ci_3a6a7485caf311ca5c82fb1339c6e1d2da0af5f7c1af1ee19fd200a4a9f7395c","title":"enum.PROGRAM_STOP_CAUSE","path":"/ko/api/1.28/publish/enum-program_stop_cause","children":[]},{"id":"ci_f310d01d0b9f9f670659309563cfc962c7fc9d7681c405a2781cc449a968b9e5","title":"enum.PATH_MODE","path":"/ko/api/1.28/publish/enum-path_mode","children":[]},{"id":"ci_94a1c1f7ec75ab5423a13c6abc46216e732a3a5524bde583dcb7e32ede64497f","title":"enum.CONTRL_MODE","path":"/ko/api/1.28/publish/enum-contrl_mode","children":[]},{"id":"ci_96e74c55ce3da3924bc6a3e490e0ed8e25fae95a460982fff0464701ce35b4d6","title":"enum.DATA_TYPE","path":"/ko/api/1.28/publish/enum-data_type","children":[]},{"id":"ci_517ab2f90904c7c8a8e04c3ba6b9a8bef9b09d9a924b73dfbcdce9ac8dd4d8b4","title":"enum.VARIABLE_TYPE","path":"/ko/api/1.28/publish/enum-variable_type","children":[]},{"id":"ci_f0487a369d2e0df312017ebcfb1764a91e5ce782323e804429d003ebd3ea85b6","title":"enum.SUB_PROGRAM","path":"/ko/api/1.28/publish/enum-sub_program","children":[]},{"id":"ci_40be9f2423df3d203b80fc0ca9d20fe16e1af28aca8d4a71fa9bdb6bf48d2436","title":"enum.SINGULARITY_AVOIDANCE","path":"/ko/api/1.28/publish/enum-singularity_avoidance","children":[]},{"id":"ci_f17906784e28486e37a0241548918f818f57e6d07ed2f6a30a1c984052254657","title":"enum.MESSAGE_LEVEL","path":"/ko/api/1.28/publish/enum-message_level","children":[]},{"id":"ci_8ae9f3769aa16a0d6adcb8f79c1abfe2b4e4e80916f5c80d10384d216b488937","title":"enum.POPUP_RESPONSE","path":"/ko/api/1.28/publish/enum-popup_response","children":[]},{"id":"ci_bb8643653b2614649db39038d9ccaaabc8e6ea1c714009c3a1a6275f15b27779","title":"enum.MOVE_HOME","path":"/ko/api/1.28/publish/enum-move_home","children":[]},{"id":"ci_9822ab970896c044838ec0d41894e199eab8f29de16a5c72d0cb0aeaa2bbd3a2","title":"enum.BYTE_SIZE","path":"/ko/api/1.28/publish/enum-byte_size","children":[]},{"id":"ci_3369bea18a70edd7d25e7496b371efdbecd9ec4cd7e4cc41a3903fd69cd52597","title":"enum.STOP_BITS","path":"/ko/api/1.28/publish/enum-stop_bits","children":[]},{"id":"ci_7a791489b4235815c45f147211a41fadf00675dd615442f17035d9bd7b7f515f","title":"enum.PARITY_CHECK","path":"/ko/api/1.28/publish/enum-parity_check","children":[]},{"id":"ci_e58b272466f828778feb1f860b13eb2a7ecc1b5fe5b20938c823b702a6ce42a4","title":"enum.RELEASE_MODE","path":"/ko/api/1.28/publish/enum-release_mode","children":[]},{"id":"ci_522586767c2d62576104d9b544d301919e5038bafbacde6bca453db49296d3ca","title":"enum.SAFETY_MODE","path":"/ko/api/1.28/publish/enum-safety_mode","children":[]},{"id":"ci_f449b7d9fbb7ceb993091ec05b44ccfc7ce5f48385768ff3638f01451712aa33","title":"enum.SAFETY_STATE","path":"/ko/api/1.28/publish/enum-safety_state","children":[]},{"id":"ci_2b2ba588a59dacf2278e7704c444b100b4944d51208120115449919cb195725b","title":"enum.SAFETY_MODE_EVENT","path":"/ko/api/1.28/publish/enum-safety_mode_event","children":[]},{"id":"ci_caea2658cd0d1f592589de514d7df7a7643d8b349ddba7203b6bceb9af93845a","title":"enum.COG_REFERENCE","path":"/ko/api/1.28/publish/enum-cog_reference","children":[]},{"id":"ci_c6a5313f9c60e13c0c372c7d77df0127fc0fbae6eb7e073b01141313b8306f83","title":"enum.ADD_UP","path":"/ko/api/1.28/publish/enum-add_up","children":[]},{"id":"ci_f53e3e78b2c0d8a5e706888ae9f9ecd576b733904bfd40b15b0d75d19d8ed0f4","title":"enum.OUTPUT_TYPE","path":"/ko/api/1.28/publish/enum-output_type","children":[]}]},{"id":"ci_d97ee82575527dcd137df2e84d25df56864ff3bd25b2b2b1bdc00379d370a5f5","title":"구조체 정의","path":"/ko/api/1.28/publish/-7","children":[{"id":"ci_aeaa6032c1a26db7b44b8ba6e305ff869d76579a5958996bb47a1d8e517e6106","title":"struct.SYSTEM_VERSION","path":"/ko/api/1.28/publish/struct-system_version","children":[]},{"id":"ci_108cbfe2e38e381ca4db5ade27945057d7cc0ab009f9b9ccca4bf3a196ba6572","title":"struct.MONITORING_DATA","path":"/ko/api/1.28/publish/struct-monitoring_data","children":[]},{"id":"ci_8abfd33966b3029667a7c2ff1e7be068eb37a34a4214b177c538266f1349b4ce","title":"struct.MONITORING_DATA_EX","path":"/ko/api/1.28/publish/struct-monitoring_data_ex","children":[]},{"id":"ci_2c7d4f264849e557978813fb31c1297876fda4fa296d08529682135f9241444d","title":"struct.MONITORING_CTRLIO","path":"/ko/api/1.28/publish/struct-monitoring_ctrlio","children":[]},{"id":"ci_1da686153844faee47971765337c6aafe9f750cdf7710ab186b6b390ff43668d","title":"struct.MONITORING_CTRLIO_EX","path":"/ko/api/1.28/publish/struct-monitoring_ctrlio_ex","children":[]},{"id":"ci_647051eede9fdea644141966506cc445dd8df010009e3fe704bc5bb4140ced67","title":"struct.MONITORING_MODBUS","path":"/ko/api/1.28/publish/struct-monitoring_modbus","children":[]},{"id":"ci_73b08e19ae3f8952da44cae106f3a7c7476852cb22de780394464b958c3a47cf","title":"struct.LOG_ALARM","path":"/ko/api/1.28/publish/struct-log_alarm","children":[]},{"id":"ci_f7be332adca062157a62f02d01072c1dfce1de5d30c00c30163102506aa57b7e","title":"struct.MOVE_POSB","path":"/ko/api/1.28/publish/struct-move_posb","children":[]},{"id":"ci_c2b500ebc66637c5a5fad28e0e7000d1bf2f3cfb7f7ff36de7338d455a04bcb4","title":"struct.ROBOT_POSE","path":"/ko/api/1.28/publish/struct-robot_pose","children":[]},{"id":"ci_3ab629811e38851d8229dcb62c563c9d5399cd4852e21ae5af50def51b18b940","title":"struct.USER_COORDINATE","path":"/ko/api/1.28/publish/struct-user_coordinate","children":[]},{"id":"ci_a54c0a82c55ca8ce95b70ea58725a92547dd80a8cc3f0f24713db87366655f64","title":"struct.MESSAGE_POPUP","path":"/ko/api/1.28/publish/struct-message_popup","children":[]},{"id":"ci_6d70f945a8cb5033ef1e3ee14804fa3c4e5fffdc7e59ce548daf194016fb87da","title":"struct.MESSAGE_INPUT","path":"/ko/api/1.28/publish/struct-message_input","children":[]},{"id":"ci_a7a8c1513c393b1d14a9a78fb62c147660770184ef2f9eb098b29896177a605b","title":"struct.MESSAGE_PROGRESS","path":"/ko/api/1.28/publish/struct-message_progress","children":[]},{"id":"ci_a598fb275309b6b9193054e4f92d616147a9e4429ea0f2dda463234e80ed6871","title":"struct.FLANGE_SERIAL_DATA","path":"/ko/api/1.28/publish/struct-flange_serial_data","children":[]},{"id":"ci_d2ae5d854ac05bc664e1e218b52edfaed580c600dae1d8e2d07b1b3dd648d10f","title":"struct.FLANGE_SER_RXD_INFO","path":"/ko/api/1.28/publish/struct-flange_ser_rxd_info","children":[]},{"id":"ci_d62f589fe2320c5e36a51433614e50fed9c1905e341c80fdaeb598417abf664c","title":"struct.READ_FLANGE_SERIAL","path":"/ko/api/1.28/publish/struct-read_flange_serial","children":[]},{"id":"ci_9ddb15d26975f9b809b918c2abb646586cbf5d9f28cd53ca20905663742d54ff","title":"struct. INVERSE_KINEMATIC_RESPONSE","path":"/ko/api/1.28/publish/struct-inverse_kinematic_response","children":[]},{"id":"ci_595231c0805dc9901e90eae0969894aec6ced2492540962b1c99787d87e18483","title":"struct.UPDATE_SW_MODULE_RESPONSE","path":"/ko/api/1.28/publish/struct-update_sw_module_response","children":[]},{"id":"ci_da81306d92742885e512948adc9e7b2647db385349916eacbae66d5a2c6f8292","title":"struct.CONFIG_JOINT_RANGE","path":"/ko/api/1.28/publish/struct-config_joint_range","children":[]},{"id":"ci_51074480c758cdc7ff246cab06d95647bb833ff43b789948c540676aa4a433f1","title":"struct.GENERAL_RANGE","path":"/ko/api/1.28/publish/struct-general_range","children":[]},{"id":"ci_aeaf56bfa7c0536bd7b3e5dd28f0bbb3c9af339de1f110c0502ae71528c4daa5","title":"struct.CONFIG_GENERAL_RANGE","path":"/ko/api/1.28/publish/struct-config_general_range","children":[]},{"id":"ci_8c28a8c426b808971c95c6682b1a85df9445f5de58ddef41c1dbe92be0062828","title":"struct.POINT_2D","path":"/ko/api/1.28/publish/struct-point_2d","children":[]},{"id":"ci_1b928b0b166e799fbe7981c09ed766f656f55b9557070be18d6f5fad1714ce9b","title":"struct.POINT_3D","path":"/ko/api/1.28/publish/struct-point_3d","children":[]},{"id":"ci_8d124bcd8459c65a0c10f17e575d6487ebaae31eb5f5e57eca328a42949781ce","title":"struct.LINE","path":"/ko/api/1.28/publish/struct-line","children":[]},{"id":"ci_452fc71ad3f47acc3e4b1eeb48964188c42243c62e9582e5a8e40e01de446035","title":"union.CONFIG_SAFETY_FUNCTION","path":"/ko/api/1.28/publish/union-config_safety_function","children":[]},{"id":"ci_acc47f5fdacb4470221ce74c49aa027cb731e9987e13c409c0e0da4edf38cfae","title":"struct._tStopCode","path":"/ko/api/1.28/publish/struct-_tstopcode","children":[]},{"id":"ci_a1c920146c7a2da86c7da11773b8d7d7379a6dfcb44173811914678248537922","title":"struct.CONFIG_INSTALL_POSE","path":"/ko/api/1.28/publish/struct-config_install_pose","children":[]},{"id":"ci_8fe3dfca49572ec42bff19a7a5d7a525b6d146335e712e10334040d9186a74c1","title":"struct.CONFIG_SAFETY_IO","path":"/ko/api/1.28/publish/struct-config_safety_io","children":[]},{"id":"ci_f7fbb09dc347e3883a6f595002482f7b8e70ce95688d6c7efc22546c9611f383","title":"struct.CONFIG_SAFETY_IO_EX","path":"/ko/api/1.28/publish/struct-config_safety_io_ex","children":[]},{"id":"ci_8f9bb6643e68c2c388bca29f59aee54bdef8d3faa84504056d47f5c3bc9fc756","title":"union.VIRTUAL_FENCE_OBJECT","path":"/ko/api/1.28/publish/union-virtual_fence_object","children":[]},{"id":"ci_70ff84e58dc6422a419a4884f354d0781ed65a3bb48b495d73b5a1784948c4fb","title":"struct.CONFIG_VIRTUAL_FENCE","path":"/ko/api/1.28/publish/struct-config_virtual_fence","children":[]},{"id":"ci_790dee466540899197ee6650c6723af89eac29c09394a0299dbb4462ae981b0c","title":"struct.CONFIG_SAFE_ZONE","path":"/ko/api/1.28/publish/struct-config_safe_zone","children":[]},{"id":"ci_08c3be8a37aeaad55514325c6bcd064701ea4ff61fc432b3b3075b53554eafa3","title":"struct.ENABLE_SAFE_ZONE","path":"/ko/api/1.28/publish/struct-enable_safe_zone","children":[]},{"id":"ci_d70b75ed8215b16fee9685fc3de8a022bcbd5c4222a972ad4735f72da569c487","title":"struct.SAFETY_OBJECT_SPHERE","path":"/ko/api/1.28/publish/struct-safety_object_sphere","children":[]},{"id":"ci_33ad120bf100266b8dc2e97d027949abd8e6f29f914f831dae28c9987ba5c682","title":"struct.SAFETY_OBJECT_CAPSULE","path":"/ko/api/1.28/publish/struct-safety_object_capsule","children":[]},{"id":"ci_e5ef3d4fd213389733ef5e98156153d0c19ffc52007887f4052697c7cc764643","title":"struct.SAFETY_OBJECT_CUBE","path":"/ko/api/1.28/publish/struct-safety_object_cube","children":[]},{"id":"ci_de9eef1b084bad1a307e4faeddb81000ed3681ac3f9813bdbd544b8103457d98","title":"struct.SAFETY_OBJECT_OBB","path":"/ko/api/1.28/publish/struct-safety_object_obb","children":[]},{"id":"ci_d4f59c00a27488f8372da809e807cf13dfad758e6e9346f79d119f6f6cb0a946","title":"struct.SAFETY_OBJECT_POLYPRISM","path":"/ko/api/1.28/publish/struct-safety_object_polyprism","children":[]},{"id":"ci_c89d860839e93cd16090106214f82b1b588c507424a72be8a0e42a9f027dc243","title":"union.SAFETY_OBJECT_DATA","path":"/ko/api/1.28/publish/union-safety_object_data","children":[]},{"id":"ci_4d8ccbc1bcb2b4c2b81f61585e8c62c15706719b4b8cc6c75f68fff22457512e","title":"struct.SAFETY_OBJECT","path":"/ko/api/1.28/publish/struct-safety_object","children":[]},{"id":"ci_5676ce77a9702cec2aa728a6346987c51fd4087e2376ff58d242612cfe3705b7","title":"struct.CONFIG_PROTECTED_ZONE","path":"/ko/api/1.28/publish/struct-config_protected_zone","children":[]},{"id":"ci_5f7d067f8c3195730f001f3d20728e45a975458a9842ef21de2a04b670650eda","title":"struct.CONFIG_COLLISION_MUTE_ZONE_PROPERTY","path":"/ko/api/1.28/publish/struct-config_collision_mute_zone_property","children":[]},{"id":"ci_cfe3cc9c82aafef10a841cc621dd4d91d08d31cb74d81f50dd9774abd932ec39","title":"struct.CONFIG_COLLISION_MUTE_ZONE","path":"/ko/api/1.28/publish/struct-config_collision_mute_zone","children":[]},{"id":"ci_17094f3c064476d1bb99edf36b637580d9c0453b8873a8a8902fb2e3802bce18","title":"struct.SAFETY_TOOL_ORIENTATION_LIMIT","path":"/ko/api/1.28/publish/struct-safety_tool_orientation_limit","children":[]},{"id":"ci_bcab95f4d943e93b4a550e42247747e7b113efaf9a74be1def55bb04bef7e5a3","title":"struct.CONFIG_TOOL_ORIENTATION_LIMIT_ZONE","path":"/ko/api/1.28/publish/struct-config_tool_orientation_limit_zone","children":[]},{"id":"ci_ea42cccea6c4c3d936c782a72ff6f04456f47dc64874ac63014d87e96de3683e","title":"struct.CONFIG_NUDGE","path":"/ko/api/1.28/publish/struct-config_nudge","children":[]},{"id":"ci_566dc95829b2d055b0805285d378cb5b6b5d06b8cc75b187c02c01abd71065dd","title":"struct.CONFIG_COCKPIT_EX","path":"/ko/api/1.28/publish/struct-config_cockpit_ex","children":[]},{"id":"ci_9c7cdf7d2f75e9e77f0668325248cecc85936e012b3bdd19cba8663b21af8957","title":"struct.CONFIG_IDLE_OFF","path":"/ko/api/1.28/publish/struct-config_idle_off","children":[]},{"id":"ci_b185eabc15c9b4cb0037b10edb50be9a93a37f4c3d1d1ef0eb14cff0c912e5c5","title":"struct.WRITE_MODBUS_DATA","path":"/ko/api/1.28/publish/struct-write_modbus_data","children":[]},{"id":"ci_0a600d6adbf6431a36b85c6a0b3fab1ebc392a004cfd327c40dacc226a0ec088","title":"struct.WRITE_MODBUS_RTU_DATA","path":"/ko/api/1.28/publish/struct-write_modbus_rtu_data","children":[]},{"id":"ci_7a7c1ae9c4848097e87aa1d66570733df9e0253579f00fc6eeff49ef91fac71d","title":"struct.MODBUS_DATA","path":"/ko/api/1.28/publish/struct-modbus_data","children":[]},{"id":"ci_16aab22c08fd6f71ba7f88bcac03a24e48771955656b8582cb65902ce4a12ca3","title":"struct.MODBUS_DATA_LIST","path":"/ko/api/1.28/publish/struct-modbus_data_list","children":[]},{"id":"ci_36801c0f0b145a148f15e62e10ed9afc16b6fe1cacad2bb7acedfbdf738a029e","title":"struct.CONFIG_WORLD_COORDINATE","path":"/ko/api/1.28/publish/struct-config_world_coordinate","children":[]},{"id":"ci_99551d7b4355bf66aa2887bddaca4d82b9033b5bad9a05c398e8c0fa0a587216","title":"struct.CONFIG_CONFIGURABLE_IO","path":"/ko/api/1.28/publish/struct-config_configurable_io","children":[]},{"id":"ci_28a7d76f2a2b034b5ee86d9c3320abc09cd074b20a2e7b09caad921c3675fc95","title":"struct.CONFIG_CONFIGURABLE_IO_EX","path":"/ko/api/1.28/publish/struct-config_configurable_io_ex","children":[]},{"id":"ci_976e3a95000f65e47013df2950c6616c1ac2fd38ec56ac53be2b2e0709d444b8","title":"struct.CONFIG_TOOL_SHAPE","path":"/ko/api/1.28/publish/struct-config_tool_shape","children":[]},{"id":"ci_2829defaaefc920cc5d906ec33e37c7e450dc0eda1f91e3f4c6ddb82f81aec77","title":"struct.CONFIG_TOOL_SYMBOL","path":"/ko/api/1.28/publish/struct-config_tool_symbol","children":[]},{"id":"ci_29d35aea45c53b7bed781810203bf15f5da889105315e4d4f2e12642db10b9ce","title":"struct.CONFIG_TCP_SYMBOL","path":"/ko/api/1.28/publish/struct-config_tcp_symbol","children":[]},{"id":"ci_a740df9c144f6e7c8eefd5dea20f3ef1f73ad3d24358a7fe770da6a8099ce0d9","title":"struct.CONFIG_TOOL_LIST","path":"/ko/api/1.28/publish/struct-config_tool_list","children":[]},{"id":"ci_600fcbdbcab5412799232a776db3075b6a9a9a0dd56dbc3d450851a87efe57fa","title":"struct.CONFIG_TOOL_SHAPE_SYMBOL","path":"/ko/api/1.28/publish/struct-config_tool_shape_symbol","children":[]},{"id":"ci_0e3836833ea9bf803acf2802f5e6ee4123dd409329ea2149d81aa05225eab81c","title":"struct.CONFIG_TCP_LIST","path":"/ko/api/1.28/publish/struct-config_tcp_list","children":[]},{"id":"ci_48786300826c4ab8be517efedef2e6ddb5264d06a1eca35071ce2424ff718268","title":"struct.CONFIG_TOOL_SHAPE_LIST","path":"/ko/api/1.28/publish/struct-config_tool_shape_list","children":[]},{"id":"ci_e5dc027b629ca9e6047867162474641ee22e75cabb94253717e66287255f12ae","title":"struct.SAFETY_CONFIGURATION_EX","path":"/ko/api/1.28/publish/struct-safety_configuration_ex","children":[]},{"id":"ci_416c0ad2647ba94851c066d6259e5239a9ee24f50c0c87307b1c276b77ae810e","title":"struct.ROBOT_VEL","path":"/ko/api/1.28/publish/struct-robot_vel","children":[]},{"id":"ci_a107cb85436cfce9f21ac2c57d35352d539038a7e1a2a560a53e11cb56efb462","title":"struct.ROBOT_FORCE","path":"/ko/api/1.28/publish/struct-robot_force","children":[]}]},{"id":"ci_3b23759ecf267889e60d0665201757eec48cf159cdd8678328bc32a5bcb38896","title":"로그 및 알람 정의","path":"/ko/api/1.28/publish/-9","children":[{"id":"ci_a9cffa077668eca61e4a50dabd54c643ac8034955401f0c04745b26769464d65","title":"LOG_LEVEL","path":"/ko/api/1.28/publish/log_level","children":[]},{"id":"ci_1358cde32342f111a56505ead54edf8d9d984ff3e1df6913d51f33e432211a91","title":"LOG_GROUP","path":"/ko/api/1.28/publish/log_group","children":[]},{"id":"ci_958fe66d402ae9d6b425e96faee81ae3fe3045b72009214f8e93e30491b506ae","title":"LOG_CODE","path":"/ko/api/1.28/publish/log_code","children":[]}]},{"id":"ci_80b51f9bb35e756917b2be1010cbbde332b2e459f2f501abfeb3d818350fbb89","title":"콜백 함수 정의","path":"/ko/api/1.28/publish/-19","children":[{"id":"ci_bd5632070b53cf6270a042ec629d2ccd502504a25c4c15c98859b7ef5e1a7d33","title":"TOnMonitoringStateCB","path":"/ko/api/1.28/publish/tonmonitoringstatecb","children":[]},{"id":"ci_3de3a7e6446ee716caef44c35c109c858d0ea747aa5e1401763ffebf37104165","title":"TOnMonitoringDataCB","path":"/ko/api/1.28/publish/tonmonitoringdatacb","children":[]},{"id":"ci_46494e80ae119b06488f14b3464a8af95ff66c36c3eb91838ce8ada3b0a87267","title":"TOnMonitoringDataExCB","path":"/ko/api/1.28/publish/tonmonitoringdataexcb","children":[]},{"id":"ci_7247c7116d80770f0c4f5ac083bdc9cb0a145eff928190523eca66ebc9d6591d","title":"TOnMonitoringCtrlIOCB","path":"/ko/api/1.28/publish/tonmonitoringctrliocb","children":[]},{"id":"ci_c21532dd82fb7ed1232064caa923f73f789a02ead83cef8e5489ccbec6803bd2","title":"TOnMonitoringCtrlIOExCB","path":"/ko/api/1.28/publish/tonmonitoringctrlioexcb","children":[]},{"id":"ci_58996ab65dcfac58fdcd52305fb0375642994b0e733845b3892853c83a5c5c12","title":"TOnMonitoringModbusCB","path":"/ko/api/1.28/publish/tonmonitoringmodbuscb","children":[]},{"id":"ci_4c59a63507676e71a9bac284d65a52f802b147442f88e902d7f91173d2c22860","title":"TOnLogAlarmCB","path":"/ko/api/1.28/publish/tonlogalarmcb","children":[]},{"id":"ci_b8b52815698b380eb83710d6ac50b47bb6686e0d66aff19761916bb9f850d441","title":"TOnMonitoringAccessControlCB","path":"/ko/api/1.28/publish/tonmonitoringaccesscontrolcb","children":[]},{"id":"ci_8a92937ad5ce61f9720b9528582da0ce03e666ec2cdc00e54689ecd2882a3750","title":"TOnHommingCompletedCB","path":"/ko/api/1.28/publish/tonhommingcompletedcb","children":[]},{"id":"ci_3e28c1af5f060b1541e618da9ad5ef3a4038362417a9863f771663f3402b0a6b","title":"TOnTpInitializingCompletedCB","path":"/ko/api/1.28/publish/tontpinitializingcompletedcb","children":[]},{"id":"ci_c77123bdb09a60209df931a4675c98324136a81da76755d66f647cd51597824c","title":"TOnMonitoringSpeedModeCB","path":"/ko/api/1.28/publish/tonmonitoringspeedmodecb","children":[]},{"id":"ci_252ec512c7f7dca22c58ceec91bb3fefeab7ef8e270897c2069714553ea7ad82","title":"TOnMasteringNeedCB","path":"/ko/api/1.28/publish/tonmasteringneedcb","children":[]},{"id":"ci_b9b96c7b02290376cd25668140cda4b4fc6ec2978b961702cc1dbb292b34632c","title":"TOnProgramStoppedCB","path":"/ko/api/1.28/publish/tonprogramstoppedcb","children":[]},{"id":"ci_bcfdcfc5e4d4bab4e5ff17488d03d7539633ce67bfc11db0d0b9b63de7040c78","title":"TOnDisconnectedCB","path":"/ko/api/1.28/publish/tondisconnectedcb","children":[]},{"id":"ci_8130a60ef9e70b175a408b0c34c064e9c050bacce504ba1691963322d689e0e9","title":"TOnTpPopupCB","path":"/ko/api/1.28/publish/tontppopupcb","children":[]},{"id":"ci_25ea8f6693723b909ccee59ef47743e2389e3a25c50b32c78923cab9fa9de476","title":"TOnTpLogCB","path":"/ko/api/1.28/publish/tontplogcb","children":[]},{"id":"ci_cc740ed24ad4c7454da0047de039287607ed41374f09a54cc5b34f8c787b33a2","title":"TOnTpGetUserInputCB","path":"/ko/api/1.28/publish/tontpgetuserinputcb","children":[]},{"id":"ci_8ed7c5439516633cc98e4b28024f6343d2d9d1b1c86cb7cc2ab50281646553bc","title":"TOnTpProgressCB","path":"/ko/api/1.28/publish/tontpprogresscb","children":[]},{"id":"ci_05f7a37f8535e0bd21a3532aee13b9ef45e34765d5aef6b28590c2e7cd2e7fc6","title":"TOnMonitoringRobotSystemCB","path":"/ko/api/1.28/publish/tonmonitoringrobotsystemcb","children":[]},{"id":"ci_d4e161b09a21cf9464cd6c70c1b79951a14afc550a2c29b561aef02a22fc9d50","title":"TOnMonitoringSafetyStateCB","path":"/ko/api/1.28/publish/tonmonitoringsafetystatecb","children":[]}]}]},{"id":"ci_728b0a67a3b7dd240377314bbb9a9e9dfd3bfef20aa951dafab9016ccd83e40d","title":"함수(Function)","path":"/ko/api/1.28/publish/function","children":[{"id":"ci_8e2570dc024bce54842eb2e131c9b34b45bd588920aef2b821b98d603f77ca5b","title":"로봇 연결 함수","path":"/ko/api/1.28/publish/-20","children":[{"id":"ci_24beee85903f0e2a5dbf85661dc91cd368cfe28cee8acba5d004fc6da99b1ce5","title":"CDRFLEx.open_connection","path":"/ko/api/1.28/publish/cdrflex-open_connection","children":[]},{"id":"ci_552a333afc9fc57859fae227157e90b72278720f3f58cc5ae348ab20313998d5","title":"CDRFLEx.close_connection","path":"/ko/api/1.28/publish/cdrflex-close_connection","children":[]}]},{"id":"ci_17389e50f73c9058e2f9d0bc4efc84cedec8af2eb9562384958d4bc829e76433","title":"로봇 속성 함수","path":"/ko/api/1.28/publish/-21","children":[{"id":"ci_e5a2dbf23ebe076e16bd64e5e1fd827f6a50225f3b0a9330f7413007c234db49","title":"CDRFLEx.get_system_version","path":"/ko/api/1.28/publish/cdrflex-get_system_version","children":[]},{"id":"ci_8a77ad2eb4054eb311b1fb0be0005f8c707db51c2b81cfab351fb5c926055f4c","title":"CDRFLEx.get_library_version","path":"/ko/api/1.28/publish/cdrflex-get_library_version","children":[]},{"id":"ci_f2ac1fa1fb9c464452b32a00c27d9c3d7cd23569550e605e148b3cbaea0304b7","title":"CDRFLEx.get_robot_mode","path":"/ko/api/1.28/publish/cdrflex-get_robot_mode","children":[]},{"id":"ci_e33c83494c733bf3fc778573085b8df60cabbaed5e9ab43f9d4127bdb91b8ae3","title":"CDRFLEx.set_robot_mode","path":"/ko/api/1.28/publish/cdrflex-set_robot_mode","children":[]},{"id":"ci_446b1ddb751a885894f060039b1f33f7c7af886521defdc1df70cd4c46dd71ee","title":"CDRFLEx.get_robot_state","path":"/ko/api/1.28/publish/cdrflex-get_robot_state","children":[]},{"id":"ci_7d44d71c3bf37f442d93bd726690704a53ac580548f17a3999bae3c35bb14d5b","title":"CDRFLEx.set_robot_control","path":"/ko/api/1.28/publish/cdrflex-set_robot_control","children":[]},{"id":"ci_840d46434ce7aff77dd86cdb90d85ab2752299285aad33d1afe33a580ce38b62","title":"CDRFLEx.set_robot_system","path":"/ko/api/1.28/publish/cdrflex-set_robot_system","children":[]},{"id":"ci_f7289c76a998a41ce9347a7d807c133e33d7615438cff16b3a1f4044361c7374","title":"CDRFLEx.get_robot_speed_mode","path":"/ko/api/1.28/publish/cdrflex-get_robot_speed_mode","children":[]},{"id":"ci_54e126e42e68583180bbc196db279dcce32f299206fcc0d935cbb3fa74c6bafa","title":"CDRFLEx.set_robot_speed_mode","path":"/ko/api/1.28/publish/cdrflex-set_robot_speed_mode","children":[]},{"id":"ci_3397389fb2e41fd8fadadeb086fe3154965835b2c4413cd908cc34178d55f5df","title":"CDRFLEx.get_program_state","path":"/ko/api/1.28/publish/cdrflex-get_program_state","children":[]},{"id":"ci_cfce3fb1e97e00bb8451c2762ace34e1167ac2c042e9b7f26faa4c832326e0df","title":"CDRFLEx.get_robot_system","path":"/ko/api/1.28/publish/cdrflex-get_robot_system","children":[]},{"id":"ci_7a2dc143bd40114ea1f500112b9ca4123d85a5016c94932172befadeb5487141","title":"CDRFLEx.set_safe_stop_reset_type","path":"/ko/api/1.28/publish/cdrflex-set_safe_stop_reset_type","children":[]},{"id":"ci_be077db1c87d3ed979e68876dbd62ed6cc385277131980580a947f2cbfad320b","title":"CDRFLEx.get_current_pose","path":"/ko/api/1.28/publish/cdrflex-get_current_pose","children":[]},{"id":"ci_6d457e61c1f06bce53224df32de505f4e0ef5a99b18e9c13f753773b9e5a4866","title":"CDRFLEx.get_current_posj","path":"/ko/api/1.28/publish/cdrflex-get_current_posj","children":[]},{"id":"ci_16e00768021ae580180ed8dcf0ab54f0eb85860df0b97a24aabccbc67fc97095","title":"CDRFLEx.get_desired_posj","path":"/ko/api/1.28/publish/cdrflex-get_desired_posj","children":[]},{"id":"ci_3ec8365253b9f778377d14c1062ef52e861c97b2ad0633133790f48f11be082a","title":"CDRFLEx.get_current_velj","path":"/ko/api/1.28/publish/cdrflex-get_current_velj","children":[]},{"id":"ci_e4b9f27cad58ebd55ed8ad0bfdb7564ef80533b10b91825b4d38b847b68b79d1","title":"CDRFLEx.get_current_posx","path":"/ko/api/1.28/publish/cdrflex-get_current_posx","children":[]},{"id":"ci_3343de3d6f5b1c744e75b30252483cad33aa1df656cd27c0e8017f8045d07041","title":"CDRFLEx.get_desired_posx","path":"/ko/api/1.28/publish/cdrflex-get_desired_posx","children":[]},{"id":"ci_99515f0027c29d53facf8ee6833a9e34405a24a10b760aaad6cbc9c70f0a87c4","title":"CDRFLEx.get_current_tool_flange_posx","path":"/ko/api/1.28/publish/cdrflex-get_current_tool_flange_posx","children":[]},{"id":"ci_bc962dd85b96e6b81ad7cdcdfdfda16d795ec57df3a7e9b2f899bba386c980d1","title":"CDRFLEx.get_current_velx","path":"/ko/api/1.28/publish/cdrflex-get_current_velx","children":[]},{"id":"ci_665182d7cae97444af21dfbfb7f2dcc6c247a65e47682ed063d2b1c9178d3db6","title":"CDRFLEx.get_desired_velx","path":"/ko/api/1.28/publish/cdrflex-get_desired_velx","children":[]},{"id":"ci_578ab770c72b6c96cec010a521ccfc0dc735ee165ceb34f08d1e243d676b41de","title":"CDRFLEx.get_joint_torque","path":"/ko/api/1.28/publish/cdrflex-get_joint_torque","children":[]},{"id":"ci_361ded705240a15280db81cbcf6a1f1c12ae5b7f18f2ceddb0f2e53c1338a16d","title":"CDRFLEx.get_control_space","path":"/ko/api/1.28/publish/cdrflex-get_control_space","children":[]},{"id":"ci_d251f4439093e0da6460c9a58663b7303866fa0916acb299d6f98a8f2f0e7bbd","title":"CDRFLEx.get_external_torque","path":"/ko/api/1.28/publish/cdrflex-get_external_torque","children":[]},{"id":"ci_db9453bbe040879075b4a8fd50ee0d077263c67c5d0c84f14b31a13fc7398042","title":"CDRFLEx.get_tool_force","path":"/ko/api/1.28/publish/cdrflex-get_tool_force","children":[]},{"id":"ci_31d34fd220d8725260a9ab15ce1d9f0d291e55c5deb5d911fc6746366272e247","title":"CDRFLEx.get_current_solution_space","path":"/ko/api/1.28/publish/cdrflex-get_current_solution_space","children":[]},{"id":"ci_599f839bc462eecc1667b7830bf6f5dc3836df56914e2b364bda42e0e139a8b5","title":"CDRFLEx.get_last_alarm","path":"/ko/api/1.28/publish/cdrflex-get_last_alarm","children":[]},{"id":"ci_e781e41f1e4b8471fdcc797a7f78c9cef224c134e93bbd3446bcc02b3b351c5c","title":"CDRFLEx.get_solution_space","path":"/ko/api/1.28/publish/cdrflex-get_solution_space","children":[]},{"id":"ci_9570b82d4986e52f645448c8147bd23f137a67b42a4d136215052969a7e7259c","title":"CDRFLEx.get_orientation_error","path":"/ko/api/1.28/publish/cdrflex-get_orientation_error","children":[]},{"id":"ci_f88e52c45946fe152c3647aaedde7af0a317556757b7086d37772ca3d813aea2","title":"CDRFLEx.get_control_mode","path":"/ko/api/1.28/publish/cdrflex-get_control_mode","children":[]},{"id":"ci_19011316c782eb05afc7546adb89caab87f204e095823ad9260d81b62338145e","title":"CDRFLEx.get_current_rotm","path":"/ko/api/1.28/publish/cdrflex-get_current_rotm","children":[]},{"id":"ci_04bd810e4a196a083361d09c0a5ce0ba6b242e6929024abfa4fa0047de616d9c","title":"CDRFLEx.get_safety_configuration","path":"/ko/api/1.28/publish/cdrflex-get_safety_configuration","children":[]}]},{"id":"ci_b3375b254862448952e93ce20e5c1642c7193d0f0ea2e3ba8f9bf5a7fb6c1a2f","title":"콜백함수 등록 함수","path":"/ko/api/1.28/publish/-8","children":[{"id":"ci_f483fb326c645295fa2d8273965a965a08666b24366657155d085c36b67d365f","title":"CDRFLEx.set_on_monitoring_state","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_state","children":[]},{"id":"ci_6cf0159ca7e9563e9e453dcd008424ff7e85ab9d27ad927474a0720eca90ab44","title":"CDRFLEx.set_on_monitoring_data","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_data","children":[]},{"id":"ci_45e0b932f5601a454b13c6e5da2475bb3164d385147590a08bc3b9fb3adf1b5a","title":"CDRFLEx.set_on_monitoring_data_ex","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_data_ex","children":[]},{"id":"ci_f5c14b20bb109facc57950b0cde120903cacec55b34271e74bc2f469f78d8bdf","title":"CDRFLEx.set_on_monitoring_ctrl_io","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_ctrl_io","children":[]},{"id":"ci_59be13cc0a6c34ba1fbb6888c24859a2b12190b1d9321ce895458eedffd7662a","title":"CDRFLEx.set_on_monitoring_ctrl_io_ex","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_ctrl_io_ex","children":[]},{"id":"ci_8b4ffced9e98ce2df3de275f016c01b8122a5c6cfa9ebe57006606779a2f5bfc","title":"CDRFLEx.set_on_monitoring_modbus","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_modbus","children":[]},{"id":"ci_f0f472b0f92a4d0ef7d4a85cd8f49f4c8903b2286fac51fa94383d4ad214b31f","title":"CDRFLEx.set_on_log_alarm","path":"/ko/api/1.28/publish/cdrflex-set_on_log_alarm","children":[]},{"id":"ci_9b448fa86d4fc37b766718bf38c8aefbd11be355fdbf8eb46564070bc4986713","title":"CDRFLEx.set_on_tp_popup","path":"/ko/api/1.28/publish/cdrflex-set_on_tp_popup","children":[]},{"id":"ci_f9ff750edec765997daea571cb2ca6f127ccc3cfed5b03e77f10edbf8c5a3c65","title":"CDRFLEx.set_on_tp_log","path":"/ko/api/1.28/publish/cdrflex-set_on_tp_log","children":[]},{"id":"ci_3163f2797f2cf498028d68e059be109822ea05c77328d0dec54616e27dbe682e","title":"CDRFLEx.set_on_tp_progress","path":"/ko/api/1.28/publish/cdrflex-set_on_tp_progress","children":[]},{"id":"ci_54a9925d1259f040e861de2436bff6dfe3d7397c1dcd74dfecceb217ca938775","title":"CDRFLEx.set_on_tp_get_user_input","path":"/ko/api/1.28/publish/cdrflex-set_on_tp_get_user_input","children":[]},{"id":"ci_953e2bac76973e940630ef0ee6ae1dab2d344332bcfec172a898532b2c2a216f","title":"CDRFLEx.set_on_monitoring_access_control","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_access_control","children":[]},{"id":"ci_01e566b1c0d1110712068a003f6fa1c2e4a3023a4b8b67566b8218b201fe2a34","title":"CDRFLEx.set_on_homming_completed","path":"/ko/api/1.28/publish/cdrflex-set_on_homming_completed","children":[]},{"id":"ci_4edd77cd276654230f1b237537c47efcb6a7aa24cde94e71a56b8f0bc2e44f28","title":"CDRFLEx.set_on_tp_initializing_completed","path":"/ko/api/1.28/publish/cdrflex-set_on_tp_initializing_completed","children":[]},{"id":"ci_3b16662247c6baed2b0a6448592906302e879017a96b2a59699fdb2a494896e2","title":"CDRFLEx.set_on_monitoring_speed_mode","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_speed_mode","children":[]},{"id":"ci_5631e471e5ad5834a23d6d93c778c411dd33baf138a5b2bff7fb2158be80701a","title":"CDRFLEx.set_on_mastering_need","path":"/ko/api/1.28/publish/cdrflex-set_on_mastering_need","children":[]},{"id":"ci_2893d35ba85d3bff3d8884eea84f2e0ef9ff2b87b733468f9aa9be96d459ab2b","title":"CDRFLEx.set_on_program_stopped","path":"/ko/api/1.28/publish/cdrflex-set_on_program_stopped","children":[]},{"id":"ci_91b1968d34fd5560d7729b246368c4feae4d9571f2c42b74914b3f6a0c1c9e97","title":"CDRFLEx.set_on_disconnected","path":"/ko/api/1.28/publish/cdrflex-set_on_disconnected","children":[]},{"id":"ci_699ea290a4f917af4fd6cc62d8afd44b6aab42ec016f38ba994058a47dec8faf","title":"CDRFLEx.set_on_monitoring_robot_system","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_robot_system","children":[]},{"id":"ci_a3955e5d7be36f3078dd34d0c9968e29c724de08f2826b09d170689c0f9e1f35","title":"CDRFLEx.set_on_monitoring_update_module","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_update_module","children":[]},{"id":"ci_aaf954fa41e968af07366bb92688cd64206994f23416a65cd7af13cb25540e50","title":"CDRFLEx.set_on_monitoring_safety_state","path":"/ko/api/1.28/publish/cdrflex-set_on_monitoring_safety_state","children":[]}]},{"id":"ci_9f5d0930bf4430b773d4836e84003942b2d4e17879b6b1e0ef4cacb0311d5c91","title":"제어권 관리 함수","path":"/ko/api/1.28/publish/-23","children":[{"id":"ci_4c43f6023d6be99eb22eb775bec487b8f14d1d9f7936f75337d7a36f2f73f490","title":"CDRFLEx.manage_access_control","path":"/ko/api/1.28/publish/cdrflex-manage_access_control","children":[]}]},{"id":"ci_94f771a4762b7cbe837ea91f3c7a58e7be4631cfa7de1b5af0875e92366afadd","title":"기본 제어 함수","path":"/ko/api/1.28/publish/-24","children":[{"id":"ci_625ad01480c49ac47851e6f23f55e66916e1b606354b2d753f7d80cc0a93b40f","title":"CDRFLEx.jog","path":"/ko/api/1.28/publish/cdrflex-jog","children":[]},{"id":"ci_68dd794455c58cea507c12f28755db32d1882ced5dafa97808cf5e70d75b8dd0","title":"CDRFLEx.move_home","path":"/ko/api/1.28/publish/cdrflex-move_home","children":[]}]},{"id":"ci_4519785f40c01fca4990b37ecb52ec8efc73be7591e5abc8ec7f98e3aaf4ce58","title":"모션 제어 함수","path":"/ko/api/1.28/publish/-22","children":[{"id":"ci_aa2f1efe987ef046184389d298bc4206080062eb0860039db1e5e0540f802a36","title":"CDRFLEx.movej","path":"/ko/api/1.28/publish/cdrflex-movej","children":[]},{"id":"ci_af227b0b9902df7aa29b401ff3267b671c838dc7c330fb5efb980f05b6564d4f","title":"CDRFLEx.movel","path":"/ko/api/1.28/publish/cdrflex-movel","children":[]},{"id":"ci_613c771d13dda7ed76bcb3a7f845c9c82cb76c0a0e88d12cda9fba42b383a2c9","title":"CDRFLEx.movejx","path":"/ko/api/1.28/publish/cdrflex-movejx","children":[]},{"id":"ci_593ea626a235c222f2f84bbb8ed9fc72add4ad5cc28c0500de982773e11f57fe","title":"CDRFLEx.movec","path":"/ko/api/1.28/publish/cdrflex-movec","children":[]},{"id":"ci_48ded781afedae48f16b173c7f50e72213eb7fda77a85df24c6f61695320a1f5","title":"CDRFLEx.movesj","path":"/ko/api/1.28/publish/cdrflex-movesj","children":[]},{"id":"ci_2aa7121d1eab9e1333816dd5f0a0fb76c9694a4689a924191025d79e20d4938b","title":"CDRFLEx.movesx","path":"/ko/api/1.28/publish/cdrflex-movesx","children":[]},{"id":"ci_07eb015b8955e82a6e9ede1870a7395f78682d73d626cee18d316d6cafd0b87d","title":"CDRFLEx.moveb","path":"/ko/api/1.28/publish/cdrflex-moveb","children":[]},{"id":"ci_be8736e755ecbd0534e291750518d508e6800731ed7a0f4536d0ef1708d0280e","title":"CDRFLEx.move_spiral","path":"/ko/api/1.28/publish/cdrflex-move_spiral","children":[]},{"id":"ci_a124159b694e35013c9c0f6fa07c18d6b2f96c7cc4f9d1455f5427591de73eff","title":"CDRFLEx.move_periodic","path":"/ko/api/1.28/publish/cdrflex-move_periodic","children":[]},{"id":"ci_740b0d01b383f482fdfcb58ac5dca48067e2421cfd24af4824084b713b9d0ddc","title":"CDRFLEx.amovej","path":"/ko/api/1.28/publish/cdrflex-amovej","children":[]},{"id":"ci_098df11237c8e681d4e712a5f4730f73b35b7b4f93325c177eb92ddd4703810c","title":"CDRFLEx.amovel","path":"/ko/api/1.28/publish/cdrflex-amovel","children":[]},{"id":"ci_d9da8d831eb113e5352f5cad89e0c005ef62bb3efb0bb8e69e89f43dd992079a","title":"CDRFLEx.amovejx","path":"/ko/api/1.28/publish/cdrflex-amovejx","children":[]},{"id":"ci_75fddd6fbc446d7415a0b371abd08158bdadf092131082cd77784b494466358b","title":"CDRFLEx.amovec","path":"/ko/api/1.28/publish/cdrflex-amovec","children":[]},{"id":"ci_7531d0b76291deb5a4af3195895cb2100765826c34e6dbb9dcea8bcca5d57ae6","title":"CDRFLEx.amovesj","path":"/ko/api/1.28/publish/cdrflex-amovesj","children":[]},{"id":"ci_00cb44cd6359b6bec85a82f3f12df98cd1948d8390fdf1516cea3897ae0135ea","title":"CDRFLEx.amovesx","path":"/ko/api/1.28/publish/cdrflex-amovesx","children":[]},{"id":"ci_a4c4b88062d18d36d189dd02cc093c2eb629ae5c68698064092201518546bdf6","title":"CDRFLEx.amoveb","path":"/ko/api/1.28/publish/cdrflex-amoveb","children":[]},{"id":"ci_89354bd186c5b217c8318575632cfb01c5f3ad5d60ba335dc5e39391ee6847af","title":"CDRFLEx.amove_spiral","path":"/ko/api/1.28/publish/cdrflex-amove_spiral","children":[]},{"id":"ci_4295a1b3446201b87a52fad9359393757eebc117ec7c0322d9a477a12c5aa4a1","title":"CDRFLEx.amove_periodic","path":"/ko/api/1.28/publish/cdrflex-amove_periodic","children":[]},{"id":"ci_bee89027a37de32019946b66446478084b788aa844da032457ec9f6e72cd1478","title":"CDRFLEx.stop","path":"/ko/api/1.28/publish/cdrflex-stop","children":[]},{"id":"ci_3a6d54fe4c1d4b61aecfc1cca0cc29b94994f70359ad053ef8f477bbc682549c","title":"CDRFLEx.move_pause","path":"/ko/api/1.28/publish/cdrflex-move_pause","children":[]},{"id":"ci_1b6b563f16e7b8cedba0ceb77119bb7d9d905fcc4da863d99cbecc371ea12221","title":"CDRFLEx.move_resume","path":"/ko/api/1.28/publish/cdrflex-move_resume","children":[]},{"id":"ci_77323a780f39dfb0a1a150c1fd4627cd9be032b3ee6de6591dd76784ca8cf698","title":"CDRFLEx.mwait","path":"/ko/api/1.28/publish/cdrflex-mwait","children":[]},{"id":"ci_b9602698b719f05075ec6b07d9910ebc804901858210bee0aa1a39d0ecc9e40d","title":"CDRFLEx.trans","path":"/ko/api/1.28/publish/cdrflex-trans","children":[]},{"id":"ci_2f260b4c3ae79ae1cbef4b9ed79bba9c7dabf4e0d5c3ff65aa899622e15a5a7e","title":"CDRFLEx.fkin","path":"/ko/api/1.28/publish/cdrflex-fkin","children":[]},{"id":"ci_9817e099436f701692ab06a6ac3154152e69a925e500c4398039d0b16edbe147","title":"CDRFLEx.ikin","path":"/ko/api/1.28/publish/cdrflex-ikin","children":[]},{"id":"ci_cd94f06d883c3181de834185d6161e6bd8fd47bc6844ded4d5ee5eb5bfa746a8","title":"CDRFLEx.ikin(Extension)","path":"/ko/api/1.28/publish/cdrflex-ikin-extension","children":[]},{"id":"ci_6bae42a2573012c04935a0546161dc08b7d1c03ec9c6a574752c0ae2a1c554a2","title":"CDRFLEx.set_ref_coord","path":"/ko/api/1.28/publish/cdrflex-set_ref_coord","children":[]},{"id":"ci_e3d81754aca50cc7fefb1efc713671632a3a470c8cd5300d6c793f2741807409","title":"CDRFLEx.check_motion","path":"/ko/api/1.28/publish/cdrflex-check_motion","children":[]},{"id":"ci_2a0dc56705f86b3e85e08b0727e7a2124b691d980e0e51b11a35ed6c53fbc4fb","title":"CDRFLEx.enable_alter_motion","path":"/ko/api/1.28/publish/cdrflex-enable_alter_motion","children":[]},{"id":"ci_1c7ef8c78089fb7ddaa3e863e36a4e6258e0e02dc7084c3916d3369e478a00f7","title":"CDRFLEx.alter_motion","path":"/ko/api/1.28/publish/cdrflex-alter_motion","children":[]},{"id":"ci_ceb26720425c04594cd800574a735e3d08f45dada27efbaf1ae446ee526e3981","title":"CDRFLEx.disable_alter_motion","path":"/ko/api/1.28/publish/cdrflex-disable_alter_motion","children":[]},{"id":"ci_794970a1e4e2c0c538b770910bf2ca5e32af806b6a23752e343cf1f70a292766","title":"CDRFLEx.servoj","path":"/ko/api/1.28/publish/cdrflex-servoj","children":[]},{"id":"ci_1025829209b34da751f8b63ef0719548788d7d126a4726d1bc4ed6ca6912625e","title":"CDRFLEx.servol","path":"/ko/api/1.28/publish/cdrflex-servol","children":[]},{"id":"ci_1d3576d6834f1d39455533c7d518e317f343b785a1386869acd2248954602f51","title":"CDRFLEx.speedj","path":"/ko/api/1.28/publish/cdrflex-speedj","children":[]},{"id":"ci_7502f81c6890b1003b8d19aefd8407c39acb76a5b5c7ff2127a72cba89998036","title":"CDRFLEx.speedl","path":"/ko/api/1.28/publish/cdrflex-speedl","children":[]}]},{"id":"ci_ed49cd3c36d53b88100cb6b9f8eb7cc4583ce6a13b29a669216660cb40d51730","title":"로봇 설정 함수","path":"/ko/api/1.28/publish/-25","children":[{"id":"ci_3f1fbe0d89fa9b7ae77c6b4f29781653e879a5a12bda4ceea6dd0fd515bdc1aa","title":"CDRFLEx.add_tool","path":"/ko/api/1.28/publish/cdrflex-add_tool","children":[]},{"id":"ci_1937c2574523b5318768418dc62fc8a16bc8b2fe2e0e374606105de7deedd4bd","title":"CDRFLEx.del_tool","path":"/ko/api/1.28/publish/cdrflex-del_tool","children":[]},{"id":"ci_9e28653fc8f86e79f61fb597c97512413e5321224b4a305d6b35a3372447f4c0","title":"CDRFLEx.set_tool","path":"/ko/api/1.28/publish/cdrflex-set_tool","children":[]},{"id":"ci_0c26c5cd91d22f785338b35f7181c8e692e35b956f9bb9af6ccb459b863bd54a","title":"CDRFLEx.get_tool","path":"/ko/api/1.28/publish/cdrflex-get_tool","children":[]},{"id":"ci_b8c704458fb306cc9c9e6591ebfd1d124116260f795bf71ea8e1f6ff189486e3","title":"CDRFLEx.add_tcp","path":"/ko/api/1.28/publish/cdrflex-add_tcp","children":[]},{"id":"ci_a008951589180ed2566dbbf21f75c99255708eda8556a335b7292ea2f5b4feb2","title":"CDRFLEx.del_tcp","path":"/ko/api/1.28/publish/cdrflex-del_tcp","children":[]},{"id":"ci_e59709714a7b51e234b2f01f7cda4c9691153fdcaca193d654ac1c1f1531b3d2","title":"CDRFLEx.set_tcp","path":"/ko/api/1.28/publish/cdrflex-set_tcp","children":[]},{"id":"ci_bbc9995645e146a234b97354a55f959a5231bc30d1e94801d91aadf5ba4915f8","title":"CDRFLEx.get_tcp","path":"/ko/api/1.28/publish/cdrflex-get_tcp","children":[]},{"id":"ci_fa1d0714cea30ae80437cc8e441e0a16528759b94fa07eeebd25bea16cbcce87","title":"CDRFLEx.set_tool_shape","path":"/ko/api/1.28/publish/cdrflex-set_tool_shape","children":[]},{"id":"ci_7bd230ba31493f88df9d46dbe63a22856773dcff13f6b0b6960fa2e34c367bf5","title":"CDRFLEx.get_workpiece_weight","path":"/ko/api/1.28/publish/cdrflex-get_workpiece_weight","children":[]},{"id":"ci_58d4a520f59e4e281ba006dcf8370a44ea23960fdbf7848d323da86347349fd4","title":"CDRFLEx.reset_workpiece_weight","path":"/ko/api/1.28/publish/cdrflex-reset_workpiece_weight","children":[]},{"id":"ci_84e4477274d6112bc200c575e44b16cc3ae96748266900964712c8fade28a8e1","title":"CDRFLEx.set_singularity_handling","path":"/ko/api/1.28/publish/cdrflex-set_singularity_handling","children":[]},{"id":"ci_aae0b4c73f8c1e413b9dc0c69b67721e943095f66459ce0807f7dd98f1c518fe","title":"CDRFLEx.setup_monitoring_version","path":"/ko/api/1.28/publish/cdrflex-setup_monitoring_version","children":[]},{"id":"ci_252c5e1cb3934ac8b4697ffbc393f8723ae2152aca3e7361618ef3f86320bf3d","title":"CDRFLEx.config_program_watch_variable","path":"/ko/api/1.28/publish/cdrflex-config_program_watch_variable","children":[]},{"id":"ci_7e6655b7760a65d720236f707228d5ad22ff0b333e1326dff2adbd755053aed4","title":"CDRFLEx.set_user_home","path":"/ko/api/1.28/publish/cdrflex-set_user_home","children":[]},{"id":"ci_25c00fa839109a7446305520925531c10b127632e73e1e4cfdedfe7594fb9047","title":"CDRFLEx.servo_off","path":"/ko/api/1.28/publish/cdrflex-servo_off","children":[]},{"id":"ci_903b2b1154321c18fdd8bbef25bcb31445f1153ab781c054d0320d7275008fdd","title":"CDRFLEx.release_protective_stop","path":"/ko/api/1.28/publish/cdrflex-release_protective_stop","children":[]},{"id":"ci_7bf52ceee567461c925220f4b643fa0727038480f1f33a77eea46707c269ed22","title":"CDRFLEx.change_collision_sensitivity","path":"/ko/api/1.28/publish/cdrflex-change_collision_sensitivity","children":[]},{"id":"ci_0202d95c96ce1cc8c52dbb5ef92b0cb4e46a4cb8436ada3e3a520ab054edbfdd","title":"CDRFLEx.add_sw_module","path":"/ko/api/1.28/publish/cdrflex-add_sw_module","children":[]},{"id":"ci_44a0393b58001ff62051d97d3ffae536b0ef4345cf486d59e555b23c46496e36","title":"CDRFLEx.del_sw_module","path":"/ko/api/1.28/publish/cdrflex-del_sw_module","children":[]},{"id":"ci_e3d4edd940bff3e61699bd13eb2d09b243b781bc710ab03116039565409a506c","title":"CDRFLEx.update_sw_module","path":"/ko/api/1.28/publish/cdrflex-update_sw_module","children":[]},{"id":"ci_6151b162fcc1e9f75eede9bda800b11085a9793142272eb59dfe3a97756b2ca3","title":"CDRFLEx.set_safety_mode","path":"/ko/api/1.28/publish/cdrflex-set_safety_mode","children":[]},{"id":"ci_dc49f9ce3ed1898096b4bc140919295b765658ff29a9fff8292fa8da0b34fc2a","title":"CDRFLEx.set_auto_servo_off","path":"/ko/api/1.28/publish/cdrflex-set_auto_servo_off","children":[]},{"id":"ci_2e1d732d9fb3d31abbe0fd4b8faaeb9eb42c82f8b4d88d8947b4a88f73f1a31f","title":"CDRFLEx.set_workpiece_weight","path":"/ko/api/1.28/publish/cdrflex-set_workpiece_weight","children":[]}]},{"id":"ci_6cb5cde6975a371fc6cfc6c867c335608d1123a9d001df278b8d8c9e95cbdfe4","title":"I/O 제어 함수","path":"/ko/api/1.28/publish/i-o","children":[{"id":"ci_9f28d241db0bb91cfd9e4186fd438002b8f40ae47d6227f96c71fe8290f87436","title":"CDRFLEx.set_tool_digital_output","path":"/ko/api/1.28/publish/cdrflex-set_tool_digital_output","children":[]},{"id":"ci_cb4bfb42887a029c84d654dea63c8269410f6d9a9f4c26d1b6f89ba54c073ef1","title":"CDRFLEx.get_tool_digital_input","path":"/ko/api/1.28/publish/cdrflex-get_tool_digital_input","children":[]},{"id":"ci_bb76c08e2794b35275e77f04a71402bad24b586481ab90b8a15d4c9b1be220bd","title":"CDRFLEx.get_tool_digital_output","path":"/ko/api/1.28/publish/cdrflex-get_tool_digital_output","children":[]},{"id":"ci_dd2c7e6c4dc647832ef4096fc693d0930a8f8ecb1f9cd6a43f9db94fb3c4137f","title":"CDRFLEx.set_digital_output","path":"/ko/api/1.28/publish/cdrflex-set_digital_output","children":[]},{"id":"ci_78d6f53abae5928327c5bdd728a731d3482e0d400aa87898d64e5fa7ed1a7f16","title":"CDRFLEx.get_digital_input","path":"/ko/api/1.28/publish/cdrflex-get_digital_input","children":[]},{"id":"ci_a033f47e7a91ae7fe308e62d9c3fd664fd4e78152c92157465caca1939576505","title":"CRDFL.get_digital_output","path":"/ko/api/1.28/publish/crdfl-get_digital_output","children":[]},{"id":"ci_0395a585ad5815b6a28ed9276cf17e69dc2a99983350bfdcfcff45f284ef38c8","title":"CDRFLEx.set_mode_analog_input","path":"/ko/api/1.28/publish/cdrflex-set_mode_analog_input","children":[]},{"id":"ci_ac3377e6bc622d09fcdc270198c8ef9f53400846af9d862f76b8a00caa240b86","title":"CDRFLEx.set_mode_analog_output","path":"/ko/api/1.28/publish/cdrflex-set_mode_analog_output","children":[]},{"id":"ci_02ebce117670cf1306bd0ca2202469d8c3afba7e4c891592f46123b6e9eabc4c","title":"CDRFLEx.set_analog_output","path":"/ko/api/1.28/publish/cdrflex-set_analog_output","children":[]},{"id":"ci_bc906a3f93e0c1c170dd2b120d5572383d2ab55a2704c1b796a017d1598bc4fb","title":"CDRFLEx.get_analog_input","path":"/ko/api/1.28/publish/cdrflex-get_analog_input","children":[]},{"id":"ci_e5b8c27a1621ca9b96daa9fdb17e7824765651451ce1cf485a353a9612893dba","title":"CDRFLEx.add_modbus_signal","path":"/ko/api/1.28/publish/cdrflex-add_modbus_signal","children":[]},{"id":"ci_d310624ba6d1da4aff5368678cc8e9904c76742e1ea60177953aa1c6bb90ccbb","title":"CDRFLEx.del_modbus_signal","path":"/ko/api/1.28/publish/cdrflex-del_modbus_signal","children":[]},{"id":"ci_e95f0928e7f2cbde8a93398c618f6faa154a206a32cd5e5e6f5ca26d0969fba9","title":"CDRFLEx.set_modbus_output","path":"/ko/api/1.28/publish/cdrflex-set_modbus_output","children":[]},{"id":"ci_a34728fe78761123fbaff995c9a6fbdf792fb109c82f4a30378cb0f15abc1c44","title":"CDRFLEx.get_modbus_input","path":"/ko/api/1.28/publish/cdrflex-get_modbus_input","children":[]},{"id":"ci_b529844670e9f1bced34ec92edaf20c00d98b627b9cd2df9c5592ad9adf79d82","title":"CDRFLEx.flange_serial_open","path":"/ko/api/1.28/publish/cdrflex-flange_serial_open","children":[]},{"id":"ci_ea261fc2ad061b540b28afb84eb54432a0ef8db2ca09ecd60d49bf35974b45ab","title":"CDRFLEx.flange_serial_close","path":"/ko/api/1.28/publish/cdrflex-flange_serial_close","children":[]},{"id":"ci_4638348d0a36668b6b93ee93533ea981cad98a4d579ed04a8a05acf79f2f0b31","title":"CDRFLEx.flange_serial_write","path":"/ko/api/1.28/publish/cdrflex-flange_serial_write","children":[]},{"id":"ci_46bef1e24f7d0ed7d18f8291800f144d3fa290cac74bbf9762f2cb419299320d","title":"CDRFLEx.flange_serial_read","path":"/ko/api/1.28/publish/cdrflex-flange_serial_read","children":[]},{"id":"ci_9a75ab9d7c656b5c488b48c660d30e9e2f16c1df3643f142f5295c6ded81b909","title":"CDRFLEx.get_tool_analog_input","path":"/ko/api/1.28/publish/cdrflex-get_tool_analog_input","children":[]},{"id":"ci_22aea1b48813336f01fde2de0ea5255c451258072e974b133d803708ef0c8236","title":"CDRFLEx.set_tool_digital_output_level","path":"/ko/api/1.28/publish/cdrflex-set_tool_digital_output_level","children":[]},{"id":"ci_eea7b006fc2800c1ff7384385f2a6a54c138216670e52c7af3648f23ac400ec6","title":"CDRFLEx.set_tool_digital_output_type","path":"/ko/api/1.28/publish/cdrflex-set_tool_digital_output_type","children":[]},{"id":"ci_1826936c043ef433c806dc18fff494377d2358e206af53a82ab0d4b96ed7eecc","title":"CDRFLEx.set_mode_tool_analog_input","path":"/ko/api/1.28/publish/cdrflex-set_mode_tool_analog_input","children":[]}]},{"id":"ci_48007b6aea2052fa4de9d02691a35e6a9b6be4aaec45694ac3c92b0902e44c2e","title":"프로그램 제어 함수","path":"/ko/api/1.28/publish/-28","children":[{"id":"ci_a3dba21d444dec6f2db0ecda949f6f9ace891a3b9cc5b4f8025f6aa226b93df2","title":"CDRFLEx.drl_start","path":"/ko/api/1.28/publish/cdrflex-drl_start","children":[]},{"id":"ci_a7ee5eea6934fb510d927454fc88c2cafbfc4ec10ef26339dcc066ac6be6562f","title":"CDRFLEx.drl_stop","path":"/ko/api/1.28/publish/cdrflex-drl_stop","children":[]},{"id":"ci_9bd35a4ced85bca6bce0ee746cec6078784352a5c965b90f28079d216d28a01c","title":"CDRFLEx.drl_pause","path":"/ko/api/1.28/publish/cdrflex-drl_pause","children":[]},{"id":"ci_d9b19c452e19fb46af0ededa1d9d1db6140333181ead3b5e6ea166656b87d06f","title":"CDRFLEx.drl_resume","path":"/ko/api/1.28/publish/cdrflex-drl_resume","children":[]},{"id":"ci_7501ac9bd13e7fe824852c01c916b3a24493d73a5fbb9b556cce01692f1b19ec","title":"CDRFLEx.change_operation_speed","path":"/ko/api/1.28/publish/cdrflex-change_operation_speed","children":[]},{"id":"ci_a3b1b7e0c72b052a5eb206dd8a67cc4072f8d3debe4a5e1b1d9a22489602a824","title":"CDRFLEx.save_sub_program","path":"/ko/api/1.28/publish/cdrflex-save_sub_program","children":[]},{"id":"ci_4654c84ca570551f3ab6b51e1d792eac3b58944b92241d9d6dec5f4082396496","title":"CDRFLEx.tp_popup_response","path":"/ko/api/1.28/publish/cdrflex-tp_popup_response","children":[]},{"id":"ci_2c687008a60999ad10462f12f9e3606d978d3e3058fc8db10b0e017c25f09cfc","title":"CDRFLEx.tp_get_user_input_response","path":"/ko/api/1.28/publish/cdrflex-tp_get_user_input_response","children":[]}]},{"id":"ci_934e2291a37613f354782353255511fff59e28a1db584ee68e21b99f1433cd3d","title":"힘/강성 제어 및 기타 사용자 편의 함수","path":"/ko/api/1.28/publish/-29","children":[{"id":"ci_930eaf204b1758fad82ce3b702f755aa53a54a42de8d9c8b7f0fbd3f6c4563e2","title":"CDRFLEx.parallel_axis","path":"/ko/api/1.28/publish/cdrflex-parallel_axis","children":[{"id":"ci_2ee377b82ab66b9ceca164396439cf1ef69c458d43993662dd77b12438471cf9","title":"CDRFLEx.parallel_axis(fTargetPos1, fTargetPos2, fTargetPos3, eTaskAxis, eSourceRef)","path":"/ko/api/1.28/publish/cdrflex-parallel_axis-ftargetpos1-ftargetpos2-ftar","children":[]},{"id":"ci_58a9c936d0168bcb661467200d69dd258d5c9a37c4dae6bf34a3365dc259661a","title":"CDRFLEx.parallel_axis(eSourceVec, eTaskAxis, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-parallel_axis-esourcevec-etaskaxis-etarget","children":[]}]},{"id":"ci_6d10b705ae82566c4b60814138c5d7f4589ccaf64476e48dca0a143b17f4113c","title":"CDRFLEx.align_axis","path":"/ko/api/1.28/publish/cdrflex-align_axis","children":[{"id":"ci_f43c9cac7157c0459799801c86fce1035da36d101b13fbdca52abf2583ac9061","title":"CDRFLEx.align_axis(fTargetPos1, fTargetPos2, fTargetPos3, fSourceVec, eTaskAxis, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-align_axis-ftargetpos1-ftargetpos2-ftarget","children":[]},{"id":"ci_fc3a10160b6f013e0c95c9a8b093cbee3fa7312b27570119cd8df89a2026f989","title":"CDRFLEx.align_axis(eTargetVec, eSourceVec, eTaskAxis, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-align_axis-etargetvec-esourcevec-etaskaxis","children":[]}]},{"id":"ci_db5663d70fba3b7507da75360d7f9fd9a2d437ca67ca5e4cc9d410a49fac9c3c","title":"CDRFLEx.is_done_bolt_tightening","path":"/ko/api/1.28/publish/cdrflex-is_done_bolt_tightening","children":[]},{"id":"ci_c436d7adae7c7e3a5415aacac17c949258f6f32939d5df60cbb88b96c4bebe4f","title":"CDRFLEx.task_compliance_ctrl","path":"/ko/api/1.28/publish/cdrflex-task_compliance_ctrl","children":[]},{"id":"ci_16849a9524bebbfcf14cca30b8f83bfa7ff245c97aa004e670b50d1117e8751a","title":"CDRFLEx.release_compliance_ctrl","path":"/ko/api/1.28/publish/cdrflex-release_compliance_ctrl","children":[]},{"id":"ci_eb6a47be4ec5b451a38c8c1e166a969d3f159db5cf8bdf3f28f4929f04f47655","title":"CDRFLEx.set_stiffnessx","path":"/ko/api/1.28/publish/cdrflex-set_stiffnessx","children":[]},{"id":"ci_6eed7b8fb12787b629dd7c7b0a7de1d73d5b2b1932f89b83d5d5969679c2e117","title":"CDRFLEx.calc_coord","path":"/ko/api/1.28/publish/cdrflex-calc_coord","children":[]},{"id":"ci_0820a4ea3ade4d7b5c1023f09654ee0602b1b2ea02a92081613446797076a7ff","title":"CDRFLEx.set_user_cart_coord","path":"/ko/api/1.28/publish/cdrflex-set_user_cart_coord","children":[{"id":"ci_05813fbac7a78698d315e2c0ef56e5c95436c8fee8366a8a07aebbd60ae8cb5d","title":"CDRFLEx.set_user_cart_coord(iReqId, fTargetPos, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-set_user_cart_coord-ireqid-ftargetpos-etar","children":[]},{"id":"ci_b67ecb448868446f9190d4e133ff9d3b5cc900d07fbe279c56a5f8589330ff80","title":"CDRFLEx.set_user_cart_coord(fTargetPos, fTargetOrg, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-set_user_cart_coord-ftargetpos-ftargetorg-","children":[]},{"id":"ci_1ca5648221431d08fcee8b0eff3445ff2dfcc5ef361fa741af121648d219c6ae","title":"CDRFLEx.set_user_cart_coord(fTargetVec, fTargetOrg, eTargetRef)","path":"/ko/api/1.28/publish/cdrflex-set_user_cart_coord-ftargetvec-ftargetorg-","children":[]}]},{"id":"ci_fcb543dbbefbbe79475eb72a1a2eb7fbf55c1b46901d416d2865fffcaf1d54c4","title":"CDRFLEx.overwrite_user_cart_coord","path":"/ko/api/1.28/publish/cdrflex-overwrite_user_cart_coord","children":[]},{"id":"ci_ce847c408828527a89b0186d1cf381b4f47b1db7514efcba52d3a2e4fc1951ea","title":"CDRFLEx.get_user_cart_coord","path":"/ko/api/1.28/publish/cdrflex-get_user_cart_coord","children":[]},{"id":"ci_a1fae687f02e3ba532646ac4f760fc0092d89c8edc50a08ea442b8bf99d66340","title":"CDRFLEx.set_desired_force","path":"/ko/api/1.28/publish/cdrflex-set_desired_force","children":[]},{"id":"ci_247a02fbbcbd66749db856a30df97f667ed15a1a3f94f610a8babda276d9a6d0","title":"CDRFLEx.release_force","path":"/ko/api/1.28/publish/cdrflex-release_force","children":[]},{"id":"ci_987175c95c28cd6d43d2ad08b18a7357374e036a2ecb8e22bf99875e726d3c67","title":"CDRFLEx.check_position_condition_abs","path":"/ko/api/1.28/publish/cdrflex-check_position_condition_abs","children":[]},{"id":"ci_74aa833263edb37f40367e85b1b97760c4651709dd52763be2815811dea23c28","title":"CDRFLEx.check_position_condition_rel","path":"/ko/api/1.28/publish/cdrflex-check_position_condition_rel","children":[]},{"id":"ci_01bd1460f17eb9f1fa9adc1e5220cc99b69a961298f250f2e6a83e7c1005153b","title":"CDRFLEx.check_position_condition","path":"/ko/api/1.28/publish/cdrflex-check_position_condition","children":[]},{"id":"ci_0dcbe21951c87143f2e473229cdad2b8a908c0454c5de519182e5172baf722ef","title":"CDRFLEx.check_force_condition","path":"/ko/api/1.28/publish/cdrflex-check_force_condition","children":[]},{"id":"ci_0274a7298c8a6071ea2cd4bc496aba77629e01bfcc3ced51df869d610a592fb1","title":"CDRFLEx.check_orientation_condition","path":"/ko/api/1.28/publish/cdrflex-check_orientation_condition","children":[{"id":"ci_cb282c2c899289bd7fc977a2580f079a1ce6da4985df2bdbc63048245b7f0c15","title":"CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, eForceReference)","path":"/ko/api/1.28/publish/cdrflex-check_orientation_condition-eforceaxis-fta","children":[]},{"id":"ci_25b9eb3c7b363ce594cfbbc43ab07cf40160d93937ee713438542d08823c5460","title":"CDRFLEx.check_orientation_condition(eForceAxis, fTargetMin, fTargetMax, fTargetPos, eForceReference)","path":"/ko/api/1.28/publish/cdrflex-check_orientation_condition-eforceaxis-f-1","children":[]}]},{"id":"ci_4dc356366f602cc71bfc4f180804e2336228039f5b939f0e682e0893675ad7b2","title":"CDRFLEx.coord_transform","path":"/ko/api/1.28/publish/cdrflex-coord_transform","children":[]},{"id":"ci_6051dbfcd9d6ef2f3a95523954a3b314988281b2826916b0e0f6f85f20726221","title":"CDRFLEx.set_palletizing_mode","path":"/ko/api/1.28/publish/cdrflex-set_palletizing_mode","children":[]}]}]},{"id":"ci_31ba703d9fa54536422be0479689547aacde49903b8d1c7619d0bae4a37cedc2","title":"실시간 외부 제어(Realtime Control)","path":"/ko/api/1.28/publish/realtime-control","children":[{"id":"ci_16a02f623e7d0612d4cbf2f1708871aa358d5d1a4e091aeecce186785e058aa1","title":"실시간 외부 제어 소개","path":"/ko/api/1.28/publish/-26","children":[{"id":"ci_92d0f36c31d7777ec1d87eee41a83a4acedf3131bef4f7014f3e4f22aae39438","title":"버전","path":"/ko/api/1.28/publish/-27","children":[]}]},{"id":"ci_124cb3da472d9b6bb2313a2e98b674b778a6fb9a15bed5e5b9d40c050f527062","title":"통신 연결 함수","path":"/ko/api/1.28/publish/-30","children":[{"id":"ci_0b0b86c8d2baf78e9f1cf3877a882ec2c9bafdc95f7bdcf1755443c59d08bf60","title":"CDRFLEx.connect_rt_control","path":"/ko/api/1.28/publish/cdrflex-connect_rt_control","children":[]},{"id":"ci_c52871542bd6017a6a7a60a6529bc5bf74fb313736808543de8db2c37b7ba8c9","title":"CDRFLEx.disconnect_rt_control","path":"/ko/api/1.28/publish/cdrflex-disconnect_rt_control","children":[]}]},{"id":"ci_61ca933f1f9411b4f760135f882de367c9eecd9f870f9cc1b676982dbffc5d9c","title":"정보 조회 함수","path":"/ko/api/1.28/publish/-6","children":[{"id":"ci_8752b15f10ae02b280a19049122a0759a7b26d0071661cb271c30bb22b5df75b","title":"CDRFLEx.get_rt_control_input_version_list","path":"/ko/api/1.28/publish/cdrflex-get_rt_control_input_version_list","children":[]},{"id":"ci_905b6652f5b3b174c021e5e81a36c6b6b924420426dfab6a695aec9f18e0124a","title":"CDRFLEx.get_rt_control_output_version_list","path":"/ko/api/1.28/publish/cdrflex-get_rt_control_output_version_list","children":[]},{"id":"ci_e5a2d4c8d08a71760240f1ea800aa2fd0490ef9374942755e4c3fb6917c5c62f","title":"CDRFLEx.get_rt_control_input_data_list","path":"/ko/api/1.28/publish/cdrflex-get_rt_control_input_data_list","children":[]},{"id":"ci_c916dce76b2c90e1baced8dbf71ca685cefa4642f010fb2d8bdd5ec4f8199711","title":"CDRFLEx.get_rt_control_output_data_list","path":"/ko/api/1.28/publish/cdrflex-get_rt_control_output_data_list","children":[]}]},{"id":"ci_dfc05327350c36c6fe1f9191112a2193180d9df936e115dbae57b25412c06647","title":"설정 함수","path":"/ko/api/1.28/publish/-31","children":[{"id":"ci_f2c050a90ff70109000b50a518c1e2db8b1bc6594d7a8c2ee7631bd97084a172","title":"CDRFLEx.set_rt_control_input","path":"/ko/api/1.28/publish/cdrflex-set_rt_control_input","children":[]},{"id":"ci_fa7323400972f30bdde4f5bbc248df8662541d0f7206b37b494f4c30e93d0c97","title":"CDRFLEx.set_rt_control_output","path":"/ko/api/1.28/publish/cdrflex-set_rt_control_output","children":[]}]},{"id":"ci_0a8966780921b631f5be0dd8618c8562d082f795bb55bf6ba2085f666e329f0e","title":"운용 함수","path":"/ko/api/1.28/publish/-32","children":[{"id":"ci_c08f85b97325691602a674bbbf880f1503e83e06d00479e98653180fa1e6b14c","title":"CDRFLEx.start_rt_control","path":"/ko/api/1.28/publish/cdrflex-start_rt_control","children":[]},{"id":"ci_ca7bb8f0f27e50b228da449eb0d391163a8d9ea6aebd776cc036051e260a231c","title":"CDRFLEx.stop_rt_control","path":"/ko/api/1.28/publish/cdrflex-stop_rt_control","children":[]},{"id":"ci_c742bb4e0ff496cf30f81dd8b7feade2a5f3b82767b3ddfa1a6bb186a21fe189","title":"CDRFLEx. set_on_rt_monitoring_data","path":"/ko/api/1.28/publish/cdrflex-set_on_rt_monitoring_data","children":[]},{"id":"ci_11deaf5a7dde12a51691e5051d4830134b6d715c9a26f9c975f0017ca24ffa2e","title":"CDRFLEx.read_data_rt","path":"/ko/api/1.28/publish/cdrflex-read_data_rt","children":[]},{"id":"ci_617d91b3b4d12db39c618454a6f974e4f13af1ce0c4c2ac23251426fcac2d92c","title":"CDRFLEx.write_data_rt","path":"/ko/api/1.28/publish/cdrflex-write_data_rt","children":[]}]},{"id":"ci_8dbae414f16ea24a1acebe4ae712b2a5664d676e0db8cb4689860e8a4732b45a","title":"서브 모션 함수","path":"/ko/api/1.28/publish/-33","children":[{"id":"ci_845b24cc838ba706068d56f6fdd967879e1f7e4832671570d1e1dc0d6efd66a2","title":"CDRFLEx.set_velj_rt","path":"/ko/api/1.28/publish/cdrflex-set_velj_rt","children":[]},{"id":"ci_b958d3986c970187b24e1710046c0d3018d4b22df3fb94c951c88d4d2b22539e","title":"CDRFLEx.set_accj_rt","path":"/ko/api/1.28/publish/cdrflex-set_accj_rt","children":[]},{"id":"ci_f7ca0b5e45082e86ee8f449018ce4ee7eef8a5795825389c8c731d638ac3ea73","title":"CDRFLEx.set_velx_rt","path":"/ko/api/1.28/publish/cdrflex-set_velx_rt","children":[]},{"id":"ci_567b90d3e22ed291852040d108f1d05a54ef292de9441c060604777823359772","title":"CDRFLEx.set_accx_rt","path":"/ko/api/1.28/publish/cdrflex-set_accx_rt","children":[]},{"id":"ci_2200ae15cf804709aa07ebaa662be7a24bf66b8cfab590bf7947dad3f1cbff5b","title":"CDRFLEx.servoj_rt","path":"/ko/api/1.28/publish/cdrflex-servoj_rt","children":[]},{"id":"ci_19efadd44cfba5ed6381478e0e51518eff363fdb3a893291bccfb2c9b9702490","title":"CDRFLEx.servol_rt","path":"/ko/api/1.28/publish/cdrflex-servol_rt","children":[]},{"id":"ci_346904ceaff1ebc335160aea4f602932fc96af484071c935ec946b27813f8d94","title":"CDRFLEx.speedj_rt","path":"/ko/api/1.28/publish/cdrflex-speedj_rt","children":[]},{"id":"ci_90d6e21b962b417412a8156e02207b81d57412fa3c89410589b47c916da18c7b","title":"CDRFLEx.speedl_rt","path":"/ko/api/1.28/publish/cdrflex-speedl_rt","children":[]},{"id":"ci_25181b2cf8bd9dd026d299a1051b937dff7b534d1329c2ef3b68739ac7b5f340","title":"CDRFLEx.torque_rt","path":"/ko/api/1.28/publish/cdrflex-torque_rt","children":[]}]}]}]