[{"id":"ci_c0248e7de1a1cf0338825a85a2ae932696e3dedc57dab07ab13830872f641b02","title":"DRL Basic Syntax","path":"/ko/programming-manual/3.6.0/publish/drl-basic-syntax","children":[{"id":"ci_8b3d6596ca4ffab105ff1f4dd3713c18d1903a1a1f77b5ebe7d7e4d04eb663b9","title":"기본 문법","path":"/ko/programming-manual/3.6.0/publish/-1","children":[{"id":"ci_84a73b33411012615f7f453fafcfe5c8f1558738a86089b0b1a1e764ff361768","title":"들여쓰기","path":"/ko/programming-manual/3.6.0/publish/-2","children":[]},{"id":"ci_13fedbff0040c39a0acf9598cb0d487e06d13ef60609dfd04f269f993e963e88","title":"주석","path":"/ko/programming-manual/3.6.0/publish/-3","children":[]}]},{"id":"ci_95488a321f92cd57922200268798180a098fead782958ba2b910cb5a1a832ac7","title":"변수","path":"/ko/programming-manual/3.6.0/publish/-4","children":[{"id":"ci_6313e60aaa49fe11df4ea4342b1f6bcdac332154aa49474e330d241952ada18c","title":"변수명","path":"/ko/programming-manual/3.6.0/publish/-5","children":[]},{"id":"ci_44ba86808a41d126d146dd2e03ff81f7ff2f5a2797a415f364de616ab0883c1c","title":"수치","path":"/ko/programming-manual/3.6.0/publish/-6","children":[]},{"id":"ci_7757764cefb65d9fbbfa0da3da465577c4c75fabd7da4d9e1aba5e31be5e73a1","title":"문자","path":"/ko/programming-manual/3.6.0/publish/-7","children":[]},{"id":"ci_3453c0edacde26ab287aa6b745d96572a64813730b79b644e40a25cf33ee23de","title":"list","path":"/ko/programming-manual/3.6.0/publish/list","children":[]},{"id":"ci_9b15e61fb0ea8c8ef631eff7d21511042fa9d5c06654302de77924c4449f6dda","title":"tuple","path":"/ko/programming-manual/3.6.0/publish/tuple","children":[]},{"id":"ci_43f8c733c31bc38923221d942a08bde1aba0f3ce541222bca1933451da3e3753","title":"dictionary","path":"/ko/programming-manual/3.6.0/publish/dictionary","children":[]}]},{"id":"ci_14f0359de8e64de2bb2e90f15322e386dbbd3bd1d2e0ea4febd2dc9cd79251ae","title":"함수","path":"/ko/programming-manual/3.6.0/publish/-8","children":[{"id":"ci_7ecff75c1661793c4a8058b71a7c1a99cf389ddc93920ed3b5b62d4db2ada3fa","title":"함수 문법","path":"/ko/programming-manual/3.6.0/publish/-9","children":[]},{"id":"ci_6b2eca8963dfcc7c7f730c1f52a282a4244439d0e0273b4896a2a00e117e6501","title":"스코핑 룰","path":"/ko/programming-manual/3.6.0/publish/-10","children":[]},{"id":"ci_5d3eb0951ceed7fff0a9e5ba37e825e4472c85a51066fd15bf016df6a9c7f2e7","title":"인수 모드","path":"/ko/programming-manual/3.6.0/publish/-11","children":[]}]},{"id":"ci_37bfe88fe69fb9e83fb56c0d81cfac934ef1e3187ba53755a61005382329b40d","title":"제어문","path":"/ko/programming-manual/3.6.0/publish/-12","children":[{"id":"ci_30694e4235f8a242ecde139a73246c1ea62ed56047bbc0867c85d1fc9de461e9","title":"pass","path":"/ko/programming-manual/3.6.0/publish/pass","children":[]},{"id":"ci_932139432700cbec89175247c87bd0460e5494b4572dac0104d28db52bae388b","title":"if","path":"/ko/programming-manual/3.6.0/publish/if","children":[]},{"id":"ci_b8e53fa6ca69580fd3ac2dfb0c660a79cd321d07daa80c305bb02300422fb29d","title":"while","path":"/ko/programming-manual/3.6.0/publish/while","children":[]},{"id":"ci_9e901bdec5931de7ca9499f5d48625bd4e53fa5904af235485e13550614277b0","title":"for","path":"/ko/programming-manual/3.6.0/publish/for","children":[]},{"id":"ci_10ec6ac4e447e9801760ea8f46c10f7e6a651078dc06a34e2b1537107e0eec94","title":"break","path":"/ko/programming-manual/3.6.0/publish/break","children":[]},{"id":"ci_094b1b5017e4e5a20d5a477d2f58df77fe619541b029667bc00f3dbaaee481aa","title":"continue","path":"/ko/programming-manual/3.6.0/publish/continue","children":[]},{"id":"ci_3361a892f05e74f8e2707564a179ec379c773273a8176e913b4e843bf73ac843","title":"반복문의 else","path":"/ko/programming-manual/3.6.0/publish/else","children":[]}]}]},{"id":"ci_2f6e4666b485444fc3bab4be6898ca04f96686e4d139665e21b4369636642e82","title":"모션 관련 명령어","path":"/ko/programming-manual/3.6.0/publish/-13","children":[{"id":"ci_ac3e2a39e467043c8984ec742b4eff7da55716860c03e32a8ff58da226db84a4","title":"위치 생성","path":"/ko/programming-manual/3.6.0/publish/-14","children":[{"id":"ci_16c2435fc5ace591724dafd36f451e9e2b4813e0708a3a87f162f8016c7a33a9","title":"posj()","path":"/ko/programming-manual/3.6.0/publish/posj-j1-0-j2-0-j3-0-j4-0-j5-0-j6-0","children":[]},{"id":"ci_dce649d3f26245c5b10fd4cd0ce0b14630431b31221281778528f22d99e88a9c","title":"posx()","path":"/ko/programming-manual/3.6.0/publish/posx-x-0-y-0-z-0-a-0-b-0-c-0","children":[]},{"id":"ci_7600e1fb1f22a78020340136067e5314007295d5ac9b0ab1a47ec1b536950369","title":"trans()","path":"/ko/programming-manual/3.6.0/publish/trans-pos-delta-ref-ref_out","children":[]},{"id":"ci_776f31f9a3ab38bdc25bcc181229ab23b0bfac483e62d8a092fc6d6d383acf14","title":"posb()","path":"/ko/programming-manual/3.6.0/publish/posb-seg_type-posx1-posx2-none-radius-0","children":[]},{"id":"ci_6a090e9a600209bd40864a3f7f82b0adfd94794b05a6e702a43d22dbf12403b3","title":"fkin()","path":"/ko/programming-manual/3.6.0/publish/fkin-pos-ref","children":[]},{"id":"ci_19650c3f799bce3427a7e1d5a6019565314e5c0f7f264e8be52b8533cffd5d55","title":"ikin()","path":"/ko/programming-manual/3.6.0/publish/ikin-pos-sol_space-ref-ref_pos_opt-iter_threshold","children":[]},{"id":"ci_0524afd94cc6af6e63aefed9778ea217df78188483b35316a009c8558a25d779","title":"addto()","path":"/ko/programming-manual/3.6.0/publish/addto-pos-add_val-none","children":[]},{"id":"ci_027f6ebf60f4a42110260f44427a763b8e7e87ac8a0aa14ba77cb0a755fa81b2","title":"ikin_norm()","path":"/ko/programming-manual/3.6.0/publish/ikin_norm-pos-sol_space-ref-ref_pos_opt","children":[]},{"id":"ci_ae5ea30c1a38933643ed7fdf424f429c3ee7cad835193ee3278baa3bb76fdfd9","title":"get_projected_posx()","path":"/ko/programming-manual/3.6.0/publish/get_projected_posx","children":[]}]},{"id":"ci_89ce83c572f0321244b2a66d2410c3cd71b1616940c9a468c06b82c792a004e8","title":"모션 설정","path":"/ko/programming-manual/3.6.0/publish/-15","children":[{"id":"ci_80efca9a76f04d36248cba372a709caeb964a857cb6353918c2c5eee6f6e783c","title":"set_velj()","path":"/ko/programming-manual/3.6.0/publish/set_velj-vel","children":[]},{"id":"ci_2a2f0eac7b5e6669fbf304a447eaf694441c08b29fd8ce784c7e074613898b66","title":"set_accj()","path":"/ko/programming-manual/3.6.0/publish/set_accj-acc","children":[]},{"id":"ci_b493bedce31e28633b809cb0102761a4a2c7e2ae14f6f6568025c845e59613d4","title":"set_velx()","path":"/ko/programming-manual/3.6.0/publish/set_velx-vel1-vel2","children":[]},{"id":"ci_c1bf7ac50e66b51dbeaf80844a7f5b16ceddd79c11d76d3bf31120413f5ddf81","title":"set_accx()","path":"/ko/programming-manual/3.6.0/publish/set_accx-acc1-acc2","children":[]},{"id":"ci_b05c29b45384d7facfd14d5059f32a0a010e1339f375db6d23f3a5fe6579ae5b","title":"set_ref_coord()","path":"/ko/programming-manual/3.6.0/publish/set_ref_coord-coord","children":[]},{"id":"ci_f6db13692e87813451e845fc11b17d5fc12731650cca0e5e92c797ea86d6ce66","title":"set_auto_acceleration_mode()","path":"/ko/programming-manual/3.6.0/publish/set_auto_acceleration_mode-mode-ratio","children":[]}]},{"id":"ci_c4a998f1b5cdbc1d1cb0aa969c91192681c734c7cc1a8ff9c81c3f297e4ab17f","title":"동기 모션","path":"/ko/programming-manual/3.6.0/publish/-16","children":[{"id":"ci_e7082a5ef3726ba6c4e326824bf72ac7f55502055a6196ef75f958df3e696921","title":"movej()","path":"/ko/programming-manual/3.6.0/publish/movej","children":[]},{"id":"ci_40c7dd6ce81dfb7bd5d5db9b9229fc357f81dae1e21b7c4276061ec1b060c22c","title":"movel()","path":"/ko/programming-manual/3.6.0/publish/movel","children":[]},{"id":"ci_3f5c808abd67e0f324a238eff57b6046e9502312038100fec40c714380097201","title":"movejx()","path":"/ko/programming-manual/3.6.0/publish/movejx","children":[]},{"id":"ci_d48112513265d45aad9cd3c9a034bf52268ae378e55e3ecee58e395839df20e8","title":"movec()","path":"/ko/programming-manual/3.6.0/publish/movec","children":[]},{"id":"ci_9c22e94dfeeff28be8c294543cf952dd14db529b57d99fea85816917bab763a0","title":"movesj()","path":"/ko/programming-manual/3.6.0/publish/movesj","children":[]},{"id":"ci_9e578cba819d48d208bf33de5b9ae31ec9e475bb5b7d1cccc04d607f64064cd1","title":"movesx()","path":"/ko/programming-manual/3.6.0/publish/movesx","children":[]},{"id":"ci_499fc7d6c2a6bc48669ec97127ae052198bfe356d60caa8915fc36a9b8ca921b","title":"moveb()","path":"/ko/programming-manual/3.6.0/publish/moveb","children":[]},{"id":"ci_9ecf351ac0420d47d6850f4c95cd57de9a49af4d8aebc9e5d9e24e3cf14fce85","title":"move_spiral()","path":"/ko/programming-manual/3.6.0/publish/move_spiral","children":[]},{"id":"ci_58b0e68100b1aa7b957f095f049faf1e44109e24eb1a4a94b55f17593ddff39e","title":"move_periodic()","path":"/ko/programming-manual/3.6.0/publish/move_periodic","children":[]},{"id":"ci_9fe2d4088bcb85ce0091551a6acf7f05b4036e1ad9b6ea7f66d11b806a2b2bd2","title":"move_home()","path":"/ko/programming-manual/3.6.0/publish/move_home","children":[]}]},{"id":"ci_5a354877ebc7e8c80be97db79a0ecfa67fc0ff840689e7f3849122116a076b92","title":"비동기 모션","path":"/ko/programming-manual/3.6.0/publish/-19","children":[{"id":"ci_e4b95bac5f006498ffef8769c300826e83131eebfc8a086a51b883d8b5a7e03d","title":"amovej()","path":"/ko/programming-manual/3.6.0/publish/amovej","children":[]},{"id":"ci_8208f9f9e9849dfd0c5cc2352f2f8fe9203136bd7f67b2d7ccebcb734aade64e","title":"amovel()","path":"/ko/programming-manual/3.6.0/publish/amovel","children":[]},{"id":"ci_99fb49384b3706085e2e5f798e3ca77352646ff0ca10e22ec1a9179ef97a1b43","title":"amovejx()","path":"/ko/programming-manual/3.6.0/publish/amovejx","children":[]},{"id":"ci_26475568782ba7e363ba03d0dd6857c75fc583db6298b4d1aae2f7eb69f87938","title":"amovec()","path":"/ko/programming-manual/3.6.0/publish/amovec","children":[]},{"id":"ci_2f2ebfc59975e09cf5b53b5b73409aa0db4908bde46eb73e96e6a999bd3d694e","title":"amovesj()","path":"/ko/programming-manual/3.6.0/publish/amovesj","children":[]},{"id":"ci_3d4c8ae8ef7b9f59a69a89e8d159e6cec6a5cfdc15271454b1aa60cc36b28907","title":"amovesx()","path":"/ko/programming-manual/3.6.0/publish/amovesx","children":[]},{"id":"ci_73b7fc5c66848b1a61465b24ed06986b04b114fb813cc4b2fb9e7b37da14805f","title":"amoveb()","path":"/ko/programming-manual/3.6.0/publish/amoveb","children":[]},{"id":"ci_f2ccff5ba535ad9d52747e48f9fc20e71997dee099ae3c02642cafceed500f5b","title":"amove_spiral()","path":"/ko/programming-manual/3.6.0/publish/amove_spiral","children":[]},{"id":"ci_417241f689f030c346fbc37487bdb5681983958d9c903c02dc5990a2f24d5919","title":"amove_periodic()","path":"/ko/programming-manual/3.6.0/publish/amove_periodic","children":[]}]},{"id":"ci_29fac3c23bc68235ed4196406ca9c79df261a02bc7d9f1d072e717645d17518d","title":"추가 기능","path":"/ko/programming-manual/3.6.0/publish/-20","children":[{"id":"ci_1c555949a5f0c7a1c4c82cd26bedb2543843068a03814ddcdab766a36a068a8f","title":"mwait()","path":"/ko/programming-manual/3.6.0/publish/mwait-time-0","children":[]},{"id":"ci_273710e410f3a331c1a4322e74046e364808d1f34343dd2096a5996f1e5add6e","title":"begin_blend()","path":"/ko/programming-manual/3.6.0/publish/begin_blend-radius-0","children":[]},{"id":"ci_dd59f47fe9b4bc9fb479aa624e886d26f149f56700067be6861f9444b5e8b640","title":"end_blend()","path":"/ko/programming-manual/3.6.0/publish/end_blend","children":[]},{"id":"ci_97498e958dbc1f856aea5c926530537bbb03152e26872f749830911afc4f5131","title":"check_motion()","path":"/ko/programming-manual/3.6.0/publish/check_motion","children":[]},{"id":"ci_3b6808dff6de676f0bd0e332ddef30da3c047dd4741e7de3a1d6adcef64b0064","title":"stop()","path":"/ko/programming-manual/3.6.0/publish/stop-st_mode","children":[]},{"id":"ci_765fd00212fbeac81aed9bcf01b8c2aba7c91bbc0ac32ce94d5e2eb33573d20c","title":"change_operation_speed()","path":"/ko/programming-manual/3.6.0/publish/change_operation_speed-speed","children":[]},{"id":"ci_24464c5954b3fdcf796f33c2537ab339797809c52a691bd4113ca08cdca52099","title":"wait_manual_guide()","path":"/ko/programming-manual/3.6.0/publish/wait_manual_guide","children":[]},{"id":"ci_6c4ee1bbe6dff3db08bb6b2aa92f11b7880c25956b19095443be7c16ac4cbbc8","title":"wait_nudge()","path":"/ko/programming-manual/3.6.0/publish/wait_nudge","children":[]},{"id":"ci_e17c7bc3edce233419e02bb91b088d0cd801b5642583a70f479164940898b69b","title":"enable_alter_motion()","path":"/ko/programming-manual/3.6.0/publish/enable_alter_motion-n-mode-ref-limit_dpos-limit_dp","children":[]},{"id":"ci_2ea39ce4c53b1d1348a0eac73eb686b1986382780d2a182cb638a50e3cad0374","title":"alter_motion()","path":"/ko/programming-manual/3.6.0/publish/alter_motion-pos","children":[]},{"id":"ci_0dcf177aca44894f54db0f371140b1079eb95725e99c3804e90535366700d620","title":"disable_alter_motion()","path":"/ko/programming-manual/3.6.0/publish/disable_alter_motion","children":[]},{"id":"ci_d99213154f39fa92349ea6ba92a46d0913cfe670504fc9854166c79d64b8d19a","title":"check_robot_mastering()","path":"/ko/programming-manual/3.6.0/publish/check_robot_mastering","children":[]},{"id":"ci_ca0159462a088e079340eb6824b80c49425889f69f4e01ecee4471a71b829bc8","title":"motion_pause()","path":"/ko/programming-manual/3.6.0/publish/motion_pause","children":[]},{"id":"ci_2d6db740bea425af06cf1501954ddadcc71524ac1569f98a5c449decaa06604d","title":"motion_resume()","path":"/ko/programming-manual/3.6.0/publish/motion_resume","children":[]}]},{"id":"ci_da97c71af8fa0447592548102a2b76aef46dae43948f6474c9eb5b10ce686c7f","title":"서보 모션","path":"/ko/programming-manual/3.6.0/publish/-21","children":[{"id":"ci_ba22c10b67af5dc53967a3586f0303d0097c75371ac12886ff175c840c746abf","title":"servoj()","path":"/ko/programming-manual/3.6.0/publish/servoj","children":[]},{"id":"ci_30b2f2a7fe8de175904917b44dd1446ad3f440f60a6be8baf18a99fcaa8b7f82","title":"servol()","path":"/ko/programming-manual/3.6.0/publish/servol","children":[]},{"id":"ci_edb4006c984defe548bf7b6ce30f5a48b82458f3a08188c92c0ea70682d5ad0b","title":"speedj()","path":"/ko/programming-manual/3.6.0/publish/speedj","children":[]},{"id":"ci_15e080b9ff9e491e6f82514126e3c9c4a6dd83d15352484cb5667369247d1ce7","title":"speedl()","path":"/ko/programming-manual/3.6.0/publish/speedl","children":[]}]}]},{"id":"ci_7b49f238a94b9cef9b65376bf186b284da677bc985979fb8e40f0c37f38117a2","title":"제어 보조 명령어","path":"/ko/programming-manual/3.6.0/publish/-22","children":[{"id":"ci_c833927a296d1c38d417179e08dd39e420d2c1a0366f948b8228d225f835129d","title":"로봇 현재값","path":"/ko/programming-manual/3.6.0/publish/--","children":[{"id":"ci_351ea2a252e035d7d11cff20c74c64915421aae415547ffd555e49c9a366dce6","title":"get_current_posj()","path":"/ko/programming-manual/3.6.0/publish/get_current_posj","children":[]},{"id":"ci_d9b120cad5ba513d70cb8ae8d2820246158eea5166e919adf2190b0d61563c33","title":"get_current_velj()","path":"/ko/programming-manual/3.6.0/publish/get_current_velj","children":[]},{"id":"ci_6864724fa37f9151706badcd1abc996b55bb95eee56b6335c45f3ed78b4110d0","title":"get_current_posx()","path":"/ko/programming-manual/3.6.0/publish/get_current_posx-ref","children":[]},{"id":"ci_425b4e69429b413a53f48d6bf138b4260687ffe95e492a63780e9dee962dc384","title":"get_current_tool_flange_posx()","path":"/ko/programming-manual/3.6.0/publish/get_current_tool_flange_posx-ref","children":[]},{"id":"ci_4758fe9b1e2150a581f479088d1442fb582f31d5c3d73dedb765bbcd58375639","title":"get_current_velx()","path":"/ko/programming-manual/3.6.0/publish/get_current_velx-ref","children":[]},{"id":"ci_7f82afe5e790242bb980dc44d3da08651349461da134877ce7249f2948c26d2d","title":"get_current_rotm()","path":"/ko/programming-manual/3.6.0/publish/get_current_rotm-ref","children":[]},{"id":"ci_ad724989e6c05b16e427f89ee20d18d8cecccdf3f680d30f111a56c39623a355","title":"get_joint_torque()","path":"/ko/programming-manual/3.6.0/publish/get_joint_torque","children":[]},{"id":"ci_4ca2ffcec932c7a46879ac2d05bc717f5af5376eaad8e7d1e3522de293ef3fe6","title":"get_external_torque()","path":"/ko/programming-manual/3.6.0/publish/get_external_torque","children":[]},{"id":"ci_eced13f3d98303237b83482fff6043e72fbef78b8f3dbb685bf0453d2658a94e","title":"get_tool_force()","path":"/ko/programming-manual/3.6.0/publish/get_tool_force-ref","children":[]}]},{"id":"ci_4cbbaf5ea13db0c61c023ba867705b6e3a7c21a000a22c71d19bc4e9d29a3e63","title":"로봇 목표값","path":"/ko/programming-manual/3.6.0/publish/-24","children":[{"id":"ci_1af7560593183d920b851c4b7e70e68cd31adf2bcb330d80f0415b7cdb76b215","title":"get_desired_posj()","path":"/ko/programming-manual/3.6.0/publish/get_desired_posj","children":[]},{"id":"ci_86b37581bbbd77be2b70a99043a7444e3b20ab8110ece8b2b45eed9c7c67f28e","title":"get_desired_velj()","path":"/ko/programming-manual/3.6.0/publish/get_desired_velj","children":[]},{"id":"ci_fc1d70f8f3c0b3e90cda99ff3db1fe92a9c29415be104d7c30fdda91413bdf96","title":"get_desired_posx()","path":"/ko/programming-manual/3.6.0/publish/get_desired_posx-ref","children":[]},{"id":"ci_7f8e8b89231290a0632c9b43d4e975c9c9acc4454932f7c668746a103be37ed6","title":"get_desired_velx()","path":"/ko/programming-manual/3.6.0/publish/get_desired_velx-ref","children":[]}]},{"id":"ci_424066124eb80472a102c7b14bd6b653a67a86354f01bb14216f6264373cdb62","title":"제어 상태값","path":"/ko/programming-manual/3.6.0/publish/-23","children":[{"id":"ci_2747670581176a67df96e6f3b2193f129ea9bbbe9a05e76821e7d65e83ef5a9e","title":"get_control_mode()","path":"/ko/programming-manual/3.6.0/publish/get_control_mode","children":[]},{"id":"ci_a08fa5a0d8a972fb3394ef803895406b8d9ab97e4d8d8337cdaba6ebef462fd6","title":"get_control_space()","path":"/ko/programming-manual/3.6.0/publish/get_control_space","children":[]},{"id":"ci_8d273449be8fc8b9426a2b59b2597acdf38cc88c3a9e6e477a0d53417d633d1a","title":"get_current_solution_space()","path":"/ko/programming-manual/3.6.0/publish/get_current_solution_space","children":[]},{"id":"ci_ed7c576d7672af3243f94b4350b622cce26f885985561ff42d7c634da0b8b869","title":"get_solution_space()","path":"/ko/programming-manual/3.6.0/publish/get_solution_space-pos","children":[]},{"id":"ci_051e08e3ba687c04ea1df083861f690769e3a2f8067f6c63aa7a109634c632f9","title":"get_orientation_error()","path":"/ko/programming-manual/3.6.0/publish/get_orientation_error-xd-xc-axis","children":[]}]},{"id":"ci_f7675faaa96b4423ef3c66afc7298d3841f84fed503dfbde190147eba7e6853e","title":"로봇 안전 설정 파라미터","path":"/ko/programming-manual/3.6.0/publish/-1366672344","children":[{"id":"ci_a316c7149e55661e5d8d132fc05cb511905597c006c10d5079ccc141d4949c1b","title":"get_cockpit()","path":"/ko/programming-manual/3.6.0/publish/get_cockpit","children":[]},{"id":"ci_8b2ee64f317436d564798a8dcee4e75a0a69d14cd7ec38d7cf58d3d93470471b","title":"get_collision_sensitivity()","path":"/ko/programming-manual/3.6.0/publish/get_collision_sensitivity","children":[]},{"id":"ci_4d6308967a6972d0ac67c1ef803ba7956424b9bb9efbd379985aa8c4df2f5431","title":"get_configurable_io()","path":"/ko/programming-manual/3.6.0/publish/get_configurable_io","children":[]},{"id":"ci_89033a9b51b571e9b956c7057adaa27d7d029535496f645117d59835e497e568","title":"get_current_tool_shape()","path":"/ko/programming-manual/3.6.0/publish/get_current_tool_shape","children":[]},{"id":"ci_204d84804dead9abd54801d42cff455b035520ef1d28931dc7b40f4cd77ad00d","title":"get_general_range()","path":"/ko/programming-manual/3.6.0/publish/get_general_range","children":[]},{"id":"ci_1da5e490b3505c1bc049b180d5521e7a6b73d446aa379e15cb729649058d3bec","title":"get_idle_off()","path":"/ko/programming-manual/3.6.0/publish/get_idle_off","children":[]},{"id":"ci_0b60988a38da9c4e22feae54d88b2600a4ad0ad3b578347a7bab149d9c45fe1e","title":"get_install_pose()","path":"/ko/programming-manual/3.6.0/publish/get_install_pose","children":[]},{"id":"ci_a7317740db72dc7cefcc10bca904f9414048f149d8bcd89eaa43b26e6d3e3b0c","title":"get_io_speed_ratio()","path":"/ko/programming-manual/3.6.0/publish/get_io_speed_ratio","children":[]},{"id":"ci_0b7994a8bc2cadb3a8ebf7ff1a0d8e91a0eae4dde0c8d8cca571658c74040a62","title":"get_joint_range()","path":"/ko/programming-manual/3.6.0/publish/get_joint_range","children":[]},{"id":"ci_f9e0a89c147cd4a7f480c1aab00a012c71fc3493cc2370bc30c659045c21262b","title":"get_modbus_data_list()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_data_list","children":[]},{"id":"ci_35693ead27c4a15a80c27763859311b7756988cc293ec027ab63b4205e9b21eb","title":"get_nudge()","path":"/ko/programming-manual/3.6.0/publish/get_nudge","children":[]},{"id":"ci_1b37d508f75936465f633076464fa9745eb0b10bcf0b129e4dbbd90a06529374","title":"get_safety_data_version()","path":"/ko/programming-manual/3.6.0/publish/get_safety_data_version","children":[]},{"id":"ci_f5859c32828c5391b246253a1cd56ce20025364b6df4e8124941dea9b3db912a","title":"get_safety_function()","path":"/ko/programming-manual/3.6.0/publish/get_safety_function","children":[]},{"id":"ci_df924f73059d78c3b79525156cb9ef9adacbacf1705147e86951d6f60904a626","title":"get_safety_io()","path":"/ko/programming-manual/3.6.0/publish/get_safety_io","children":[]},{"id":"ci_335acc7fc310942fccae479e5c2c5eada33158e9a2f1558b7c57f9f511de9ba3","title":"get_safety_zone_cnt()","path":"/ko/programming-manual/3.6.0/publish/get_safety_zone_cnt","children":[]},{"id":"ci_3bffa083cc5aebe5883ff6c078d46d9db70e2e88cee420a806692b10470fe2c2","title":"get_safety_zone_list()","path":"/ko/programming-manual/3.6.0/publish/get_safety_zone_list","children":[]},{"id":"ci_15ecd6a0ebed7e211a451f9ed6621546e29e84ebbfad7875e488fe8f7bf5300e","title":"get_tcp_list()","path":"/ko/programming-manual/3.6.0/publish/get_tcp_list","children":[]},{"id":"ci_25a8a2706b5ab5e8528faeedb69c8c089d2483420bbd12fb8a3c88d35705eee0","title":"get_tcp_symbol()","path":"/ko/programming-manual/3.6.0/publish/get_tcp_symbol","children":[]},{"id":"ci_721664bc1975517e57142f2838c2ad01cd3bdfcee500810245b8dcb189599c0e","title":"get_tool_list()","path":"/ko/programming-manual/3.6.0/publish/get_tool_list","children":[]},{"id":"ci_52d263793dc527ca72308ec9fd0352b19d6b1bcb62e37d45e37e7515385f997a","title":"get_tool_shape_list()","path":"/ko/programming-manual/3.6.0/publish/get_tool_shape_list","children":[]},{"id":"ci_9b8ef7cdc5fae01edbf58e54da5891518bd330531fc1f23410406ae91ab6f806","title":"get_tool_shape_symbol()","path":"/ko/programming-manual/3.6.0/publish/get_tool_shape_symbol","children":[]},{"id":"ci_2cc8a760fe7478c94cd25f0db57f8949732ec3da3b6883af350e0bc64bfa99cc","title":"get_tool_symbol()","path":"/ko/programming-manual/3.6.0/publish/get_tool_symbol","children":[]},{"id":"ci_97db6bc86fd3313435a7eed14f35d0adbac0d5257bcb17c58b31e38cf4569371","title":"get_user_coord_cnt()","path":"/ko/programming-manual/3.6.0/publish/get_user_coord_cnt","children":[]},{"id":"ci_829746ea51d6212718ca6ce28bd18e3f3579eb4119ba9d541aecfb5da95ddd50","title":"get_user_coord()","path":"/ko/programming-manual/3.6.0/publish/get_user_coord","children":[]},{"id":"ci_f87feed25279652b6433582abdc986eb8ef0decad1ac9d829103678208f1cb4a","title":"get_world_coord()","path":"/ko/programming-manual/3.6.0/publish/get_world_coord","children":[]}]}]},{"id":"ci_cd555221edbe465356ca9829c61f0166e7d561ebcd430d7485af435dc6450f81","title":"기타 설정 명령어","path":"/ko/programming-manual/3.6.0/publish/-25","children":[{"id":"ci_0b9f138b471a02230ef2cde59679091fa8b462ba9e1b2a38049e40fbb9d0b997","title":"툴/작업물 설정","path":"/ko/programming-manual/3.6.0/publish/-26","children":[{"id":"ci_3ce9dc285f68639e5ecffff05c8dbc042add1ecfca44837cb1a468eecfca27bd","title":"get_workpiece_weight()","path":"/ko/programming-manual/3.6.0/publish/get_workpiece_weight","children":[]},{"id":"ci_18d24c8c8af3e6735150750a0c6ce78be2770db165ff9e6a9c9a842b34bfa639","title":"reset_workpiece_weight()","path":"/ko/programming-manual/3.6.0/publish/reset_workpiece_weight","children":[]},{"id":"ci_eb967d26c734e59273c5be63b510187473d6c845fc172d7fbed9b2d825cb9fd0","title":"set_workpiece_weight()","path":"/ko/programming-manual/3.6.0/publish/set_workpiece_weight-weight-0-0-cog-0-0-0-0-0-0-co","children":[]},{"id":"ci_a3fcd627641b39154e0a57c7243267a9b5e94e68542ab2658cfae17a58617a54","title":"set_tcp()","path":"/ko/programming-manual/3.6.0/publish/set_tcp-name","children":[]},{"id":"ci_76b2f9911aa7170a06129065330021451e281b168cfbd3b1112285dcc0818f28","title":"get_current_tcp()","path":"/ko/programming-manual/3.6.0/publish/get_current_tcp","children":[]},{"id":"ci_c586acfcf32200cc9a603ddae2134f6fe9c7ef177fecf04a2f1d854c4e0a5007","title":"set_temp_tcp()","path":"/ko/programming-manual/3.6.0/publish/set_temp_tcp","children":[]},{"id":"ci_da5d24f4a74b1810ab163da9817d44b31cb2ca1938e207e99167a00f433474b1","title":"get_temp_tcp()","path":"/ko/programming-manual/3.6.0/publish/get_temp_tcp","children":[]},{"id":"ci_44316256fd7d980e5599b25933e9e1005876dba564a285107e2f7cbc21c57281","title":"reset_temp_tcp()","path":"/ko/programming-manual/3.6.0/publish/reset_temp_tcp","children":[]},{"id":"ci_b065a65a4072759574ff00ade9698911e03200f79d3a24dcc8b67a6a622a8520","title":"set_tool()","path":"/ko/programming-manual/3.6.0/publish/set_tool-name-start_time-transition_time","children":[]},{"id":"ci_fb28ac2d37aabb95695b1eb70539a9b1d1e6ca83df754178aca52d60038967ee","title":"get_current_tool()","path":"/ko/programming-manual/3.6.0/publish/get_current_tool","children":[]},{"id":"ci_79bb77b07c8be80455cd3afd1069a30447ee28835e6ed4d72460af23dc000429","title":"set_temp_tool()","path":"/ko/programming-manual/3.6.0/publish/set_temp_tool","children":[]},{"id":"ci_d00e9d0914fd0fe73468a0da6d878c53e04120bfc777659722511dfab789ba01","title":"get_temp_tool()","path":"/ko/programming-manual/3.6.0/publish/get_temp_tool","children":[]},{"id":"ci_19e47fb5444198378560654abe8e3c556b8bfc66ca021a6ccf598f79168bbedb","title":"reset_temp_tool()","path":"/ko/programming-manual/3.6.0/publish/reset_temp_tool","children":[]},{"id":"ci_10bb1f7275dfa1204b7dad3b61e8a761c976b817ac2c13b84e97156788a77fe0","title":"set_tool_shape()","path":"/ko/programming-manual/3.6.0/publish/set_tool_shape-name","children":[]},{"id":"ci_79efe9d12f1e0d6d7a01c3634e95a9a57a799d5aee8077b2b189972e4a67e2ae","title":"set_tool_digital_output_type()","path":"/ko/programming-manual/3.6.0/publish/set_tool_digital_output_type","children":[]},{"id":"ci_9ba153677d290798f448160359df1352fddd75cb4cb6db697f6f8a044bde1647","title":"set_tool_digital_output_level()","path":"/ko/programming-manual/3.6.0/publish/set_tool_digital_output_level","children":[]},{"id":"ci_5886f98aec5b03e2b9444fdfc4e6d3985673b3a0b3f8ad1f7479d90637012e8d","title":"get_tool_analog_input()","path":"/ko/programming-manual/3.6.0/publish/get_tool_analog_input","children":[]},{"id":"ci_94a0663f79b31bafae6af0f42448a14d79eaffb4808bcb146a3cf68cc712eb75","title":"set_mode_tool_analog_input()","path":"/ko/programming-manual/3.6.0/publish/set_mode_tool_analog_input","children":[]},{"id":"ci_fb8f1fda1f5d42d8dadf97cc7b9a5ca901a1d3df93238de58f33b83b9775ef7a","title":"check_tool_limit()","path":"/ko/programming-manual/3.6.0/publish/check_tool_limit","children":[]}]},{"id":"ci_83b2bba9d6b371f94080e111676865b4b2caca6001e7f5f960ec84632e568691","title":"제어 모드 설정","path":"/ko/programming-manual/3.6.0/publish/-27","children":[{"id":"ci_8ad53e0a203cb812d8bc79707a636f343f763f03a0f762de67e497b53bf18c50","title":"set_singularity_handling()","path":"/ko/programming-manual/3.6.0/publish/set_singularity_handling-mode","children":[]},{"id":"ci_ad52c106dec1e64356728d52b7bd57b87caa616cdca036789a4ffff4b0813b6e","title":"set_singular_handling_force()","path":"/ko/programming-manual/3.6.0/publish/set_singular_handling_force-mode","children":[]},{"id":"ci_54777b6711a20ca70d02611c096f4d3fd27786a44f4a2f90cbadde137e532550","title":"set_palletizing_mode()","path":"/ko/programming-manual/3.6.0/publish/set_palletizing_mode-mode","children":[]},{"id":"ci_e1fdd819d71af559332d343fabcf407a2d47949f54c9a84e83f455e9b398801d","title":"set_motion_end()","path":"/ko/programming-manual/3.6.0/publish/set_motion_end-mode","children":[]}]},{"id":"ci_82cabaaec3d192ec61c1acddfa0d5e3b1b6524bce58dc2f59f82909a03a1be51","title":"LED 설정","path":"/ko/programming-manual/3.6.0/publish/led","children":[{"id":"ci_1b8fd0891e406880ee2fd3ac4933ac4fe4430f0572dd685aaa99d8102e6abeab","title":"set_state_led_color()","path":"/ko/programming-manual/3.6.0/publish/set_state_led_color","children":[]},{"id":"ci_56ae8ef8e8eff6c412d57cd3129a04d2b8284540d6adac454102b4bf6ffe5af8","title":"set_state_led_off()","path":"/ko/programming-manual/3.6.0/publish/set_state_led_off","children":[]},{"id":"ci_1945c1d5ada2534c9d88d4b295ad5ecda5142fc15492f22a6c7e539bc031db9c","title":"state_led_reset()","path":"/ko/programming-manual/3.6.0/publish/state_led_reset","children":[]}]}]},{"id":"ci_b5f49b34d4fe6f8335008f318c81289330cab03cc82fd9b935d1690b1b9754f0","title":"힘/순응 제어 및 기타 사용자 편의 기능","path":"/ko/programming-manual/3.6.0/publish/-28","children":[{"id":"ci_ecf1e257a14021a933ffb921978240db972abed756f41a2e4445fc18734b66f5","title":"힘/순응 제어","path":"/ko/programming-manual/3.6.0/publish/-29","children":[{"id":"ci_24f3f378138a7b863cdef61dd1a9728807c69dc11868b01aac7d7791928dd1d4","title":"release_compliance_ctrl()","path":"/ko/programming-manual/3.6.0/publish/release_compliance_ctrl","children":[]},{"id":"ci_36a64dec2cf04846ec112e1d1f55dbbacae111f20c4430cb1bfdfa31246ea3f0","title":"task_compliance_ctrl()","path":"/ko/programming-manual/3.6.0/publish/task_compliance_ctrl-stx-time","children":[]},{"id":"ci_18f334d17b5e55098044320f5fefaeb334243f61d3ab469ff6156c23d44dca25","title":"set_stiffnessx()","path":"/ko/programming-manual/3.6.0/publish/set_stiffnessx-stx-time","children":[]},{"id":"ci_0a3cc6cf5216eeb05d35d0bc31621e49373117217a06eb598b0c4d80a61f0a30","title":"set_desired_force()","path":"/ko/programming-manual/3.6.0/publish/set_desired_force-fd-dir-time-mod","children":[]},{"id":"ci_a45fa01fb44b13d17c7cf4e17f06d9bf5e11f2c76f0eae51ce0dce2968f9efe8","title":"release_force()","path":"/ko/programming-manual/3.6.0/publish/release_force-time-0","children":[]},{"id":"ci_a28b54c036b2f95752b5dabc92e04d50fa37d700e0ef77a1fc85479ebe976b65","title":"get_force_control_state()","path":"/ko/programming-manual/3.6.0/publish/get_force_control_state","children":[]},{"id":"ci_09daf4e6604a5e649606189619d61ddf958d0251727f36d251b2c6be0336bcaf","title":"set_damping_factor()","path":"/ko/programming-manual/3.6.0/publish/set_damping_factor-damping_factor-time","children":[]},{"id":"ci_0b184646d5558a53e31851f1477f76f970514ec76e619a7f5ab7228f9454ee7f","title":"set_force_factor()","path":"/ko/programming-manual/3.6.0/publish/set_force_factor-force_factor-time","children":[]},{"id":"ci_78ea7e40ed9acca87b1870c98f6f5ab68d9d52da47f232bce2da749704c89a4b","title":"set_external_force_reset()","path":"/ko/programming-manual/3.6.0/publish/set_external_force_reset","children":[]}]},{"id":"ci_f0a06f51f7933fafa225cab59239b389cbde0f8fe4d258c5a5cd19c093aa2a8e","title":"사용자 편의 기능","path":"/ko/programming-manual/3.6.0/publish/-30","children":[{"id":"ci_257e1d8d08ee8dd5c60e5426eca924cc6d4ee33e5b6117e6807252c7e50afdea","title":"parallel_axis()","path":"/ko/programming-manual/3.6.0/publish/parallel_axis-x1-x2-x3-axis-ref","children":[]},{"id":"ci_e83294d95d6262d5f94b8064a61360fea116b382d001ad2bdeada79f043cb8ba","title":"align_axis()","path":"/ko/programming-manual/3.6.0/publish/align_axis-x1-x2-x3-pos-axis-ref","children":[]},{"id":"ci_46d608505ea02a6b62ecadc9c50fc73d3ad1228e2c893e23904876ab17593827","title":"is_done_bolt_tightening()","path":"/ko/programming-manual/3.6.0/publish/is_done_bolt_tightening-m-0-timeout-0-axis-none","children":[]},{"id":"ci_daae62ec3bfa8eae514be83f1e250b9226ea192baf4cfa2f583b9cfba6b98787","title":"calc_coord()","path":"/ko/programming-manual/3.6.0/publish/calc_coord-x1-x2-x3-x4-ref-mod","children":[]},{"id":"ci_576dc60f79f317bfb63951460e8fc1fad292127ede7895af6dee9bc787cbcf7c","title":"set_user_cart_coord()","path":"/ko/programming-manual/3.6.0/publish/set_user_cart_coord-pos-ref","children":[]},{"id":"ci_cc35d56eb2ff060c4d74e3fbeb6d4640079740dd4a6147004545285254f9a722","title":"overwrite_user_cart_coord()","path":"/ko/programming-manual/3.6.0/publish/overwrite_user_cart_coord-id-pos-ref-apply_mod","children":[]},{"id":"ci_6af43a43473ca3274b2b0737c9c3312d70acbdaf01813c14d01bfaa76140f4e3","title":"get_user_cart_coord()","path":"/ko/programming-manual/3.6.0/publish/get_user_cart_coord-id","children":[]},{"id":"ci_b808582c33e74b0b521bb67d1280d83f96c3f5ff2275f63e755fd0cf13b2e0e6","title":"check_position_condition()","path":"/ko/programming-manual/3.6.0/publish/check_position_condition-axis-min-max-ref-mod-pos","children":[]},{"id":"ci_028a81ef03d28db69e56d5abba057d944f509bd08a160d8cf376e5d7b1fa30f7","title":"check_force_condition()","path":"/ko/programming-manual/3.6.0/publish/check_force_condition-axis-min-max-ref","children":[]},{"id":"ci_3cf5ec06714aa2fff40ee320d210505c1316732c56b8de0561070e88630999f0","title":"check_orientation_condition()","path":"/ko/programming-manual/3.6.0/publish/check_orientation_condition-axis-min-max-ref-mod","children":[]},{"id":"ci_120ccfce8b59525fc83e25a301b27dac6cd0e5f582b9b92fa6fabf6eb7307c31","title":"coord_transform()","path":"/ko/programming-manual/3.6.0/publish/coord_transform-pose_in-ref_in-ref_out","children":[]},{"id":"ci_b9a01f024b25b497f8b73061f6c6fe46e1295d0ec7ee886f587f97f61dd368ea","title":"get_pattern_point()","path":"/ko/programming-manual/3.6.0/publish/get_pattern_point-pos1-pos2-pos3-pos4-index-patter","children":[]},{"id":"ci_fc3d115bfb3d33742cd577428369252e390ab6a214405d8a67d04f319879cd82","title":"get_cockpit_input()","path":"/ko/programming-manual/3.6.0/publish/get_cockpit_input","children":[]}]}]},{"id":"ci_b76981ab061e0c8f3f9b6de6c040a4fe2f7f2b8b69b8960f0ecab11d2caf5a0b","title":"시스템 명령어","path":"/ko/programming-manual/3.6.0/publish/-31","children":[{"id":"ci_ab365dd57cff4ae9ccdc7e72b0c33729f0161c944539721198f0c145b266dd5b","title":"IO 관련","path":"/ko/programming-manual/3.6.0/publish/io","children":[{"id":"ci_b5d4bae172db395ef6e7d2e59bfa0b5aea8c0bcc6afa28d21e9abac2e39c3151","title":"set_digital_output()","path":"/ko/programming-manual/3.6.0/publish/set_digital_output-index-val-none","children":[]},{"id":"ci_9ba8d9b1785dcb17d2914f1c8011729870784eb147128ad32702a649dc4f8cc0","title":"set_digital_outputs()","path":"/ko/programming-manual/3.6.0/publish/set_digital_outputs-bit_list","children":[]},{"id":"ci_6c073cd8ad10222d0074f9dd156e72196db781e571ab631ef7340cec3a2c44d0","title":"get_digital_input()","path":"/ko/programming-manual/3.6.0/publish/get_digital_input-index","children":[]},{"id":"ci_b6fdfdc358438fff9893c7aa5a06b4df3c3dabaf8323a8e532cd0993de116913","title":"get_digital_inputs()","path":"/ko/programming-manual/3.6.0/publish/get_digital_inputs-bit_list","children":[]},{"id":"ci_63b5e8bf4887961955ac3a2e8d54fa786289544dea069150f2f59dd5d2da6ab5","title":"wait_digital_input()","path":"/ko/programming-manual/3.6.0/publish/wait_digital_input-index-val-timeout-none","children":[]},{"id":"ci_df6dba903664ea2a81c35a05e986921d3f6581daf0fe87399da722387e2d6a85","title":"set_tool_digital_output()","path":"/ko/programming-manual/3.6.0/publish/set_tool_digital_output-index-val-none","children":[]},{"id":"ci_72587165e212c672bd9010cf9e6501694a2659897d13d50831da515af2273336","title":"set_tool_digital_outputs()","path":"/ko/programming-manual/3.6.0/publish/set_tool_digital_outputs-bit_list","children":[]},{"id":"ci_c1baf8a9fc13c80032ef6e8806f490f8bab0817f67b05c36528b3cbfd10147e1","title":"get_tool_digital_input()","path":"/ko/programming-manual/3.6.0/publish/get_tool_digital_input-index","children":[]},{"id":"ci_41d098309197da1ec751734c00079ce4b6209acc95c1b63f932579b30a5037ad","title":"get_tool_digital_inputs()","path":"/ko/programming-manual/3.6.0/publish/get_tool_digital_inputs-bit_list","children":[]},{"id":"ci_d745000584e68be10a71761fd8862172b2407b5f10fecc9a01167ce1bd869fcc","title":"wait_tool_digital_input()","path":"/ko/programming-manual/3.6.0/publish/wait_tool_digital_input-index-val-timeout-none","children":[]},{"id":"ci_41c0d34ff82f3cba406cec5eb1bd0ed55840725bea94a5445cef7e8f3e6a1295","title":"set_mode_analog_output()","path":"/ko/programming-manual/3.6.0/publish/set_mode_analog_output-ch-mod","children":[]},{"id":"ci_d2d6bcefa72d870e75993291b9444fc437c78c819e0b21f9c5ee8260b3a2bc17","title":"set_mode_analog_input()","path":"/ko/programming-manual/3.6.0/publish/set_mode_analog_input-ch-mod","children":[]},{"id":"ci_93e9bfff000a7b015af3e0efb7a18ecc6850f1e5630c410b5e9711a3687cab82","title":"set_analog_output()","path":"/ko/programming-manual/3.6.0/publish/set_analog_output-ch-val","children":[]},{"id":"ci_dcc7f76dc2af42bf3d6a54c86c4ee4e1908332fc2c2678a52267359ed27f39ea","title":"get_analog_input()","path":"/ko/programming-manual/3.6.0/publish/get_analog_input-ch","children":[]},{"id":"ci_e9988905c89a08c278e2d5fd23df24ea08a8389c982d7acd9f2c615f4c64e9cf","title":"set_output()","path":"/ko/programming-manual/3.6.0/publish/set_output-port_type-index-val-none-time-none-val2","children":[]},{"id":"ci_231c01a95bcf54cf32de6ee7a0ebded25ed4e333a47b5e20be4fe5ad8ea44bca","title":"get_input()","path":"/ko/programming-manual/3.6.0/publish/get_input-port_type-index","children":[]},{"id":"ci_83295444a52aa7eda1fd93257590dba8999d5757b30bb6e4b0a17c1eb7f5d0da","title":"wait_input()","path":"/ko/programming-manual/3.6.0/publish/wait_input-port_type-index-val-timeout-none-condit","children":[]},{"id":"ci_f78619a4a0aaae57c6f853479732197fe4c045a1d3d2b9ae7ea721a04fcd201b","title":"wait_analog_input()","path":"/ko/programming-manual/3.6.0/publish/wait_analog_input-ch-condition-val-timeout-none","children":[]},{"id":"ci_b2839779d54900851d78637be470a9e3910e793cd75de573d962e06a06c42901","title":"wait_tool_analog_input()","path":"/ko/programming-manual/3.6.0/publish/wait_tool_analog_input-ch-condition-val-timeout-no","children":[]},{"id":"ci_269ec1e52302931bf81f5fa0e6a8663bf5c3ea7f434bbe7cec486784a477c6f0","title":"get_digital_output()","path":"/ko/programming-manual/3.6.0/publish/get_digital_output","children":[]},{"id":"ci_7f75c7b9a080a17cc13ecee4f7c23042e185b522b944c7a1fc92b88a898c1a14","title":"get_digital_outputs()","path":"/ko/programming-manual/3.6.0/publish/get_digital_outputs","children":[]}]},{"id":"ci_21f6f3b7763671044015b150d992d116938b80611d3262b30ca0dce6f632baa1","title":"TP 연동","path":"/ko/programming-manual/3.6.0/publish/tp","children":[{"id":"ci_da0cd77dd923ab3e5b0ad255ab0cdd4c858308fa38ad5c979bab0f40317a634c","title":"tp_popup()","path":"/ko/programming-manual/3.6.0/publish/tp_popup-message-pm_type-dr_pm_message-button_type","children":[]},{"id":"ci_046c3bca33d57ef21cc9705104e3b69e87c84a7db949acab00771938ac123609","title":"tp_log()","path":"/ko/programming-manual/3.6.0/publish/tp_log-message","children":[]},{"id":"ci_10de2d2dc876a6a771ff27c7f1577896d3b4ac905c4d49d2298afd9723b11332","title":"tp_get_user_input()","path":"/ko/programming-manual/3.6.0/publish/tp_get_user_input-message-input_type","children":[]}]},{"id":"ci_734bde7b274b5ed2d3f647e6e18028f0138dfd1cbc18d160739ebbdcc1bc9bc6","title":"Thread","path":"/ko/programming-manual/3.6.0/publish/thread","children":[{"id":"ci_9677b2b209266a453869442cfdbfdaaa0201a60cbd0f82cb92fb8196c555e0fa","title":"thread_run()","path":"/ko/programming-manual/3.6.0/publish/thread_run-th_func_name-loop-false","children":[]},{"id":"ci_3a433e5cdf338767007206b4a616878e3e7545790972c3e7359b46105e03eb11","title":"thread_stop()","path":"/ko/programming-manual/3.6.0/publish/thread_stop-th_id","children":[]},{"id":"ci_a38c9b20367f7c15058431a037e4ea4bb986727750395b95272b44b027ef858c","title":"thread_pause()","path":"/ko/programming-manual/3.6.0/publish/thread_pause-th_id","children":[]},{"id":"ci_f7af3a0aad73970fea759147ad19f7e10545b2a288f7b40b6a0795a446120464","title":"thread_resume()","path":"/ko/programming-manual/3.6.0/publish/thread_resume-th_id","children":[]},{"id":"ci_05fe263f2b07ac1e77ffbaf0620c941c323d6ad561c93f2c40e44b8e7b670e94","title":"thread_state()","path":"/ko/programming-manual/3.6.0/publish/thread_state-th_id","children":[]},{"id":"ci_e5d6cf0f6efb05bd3469b72c11f55d36875cf7029f868256759413561952f248","title":"통합 예제 - Thread","path":"/ko/programming-manual/3.6.0/publish/thread-1","children":[]}]},{"id":"ci_0a1c38e00e9d8f2451e491a32806e15166684791198d07f2392372ae5824429c","title":"기타","path":"/ko/programming-manual/3.6.0/publish/-32","children":[{"id":"ci_4501be91d460a46e09602195b1ed85e4ee340d506bf536d6c246063925e441b5","title":"wait()","path":"/ko/programming-manual/3.6.0/publish/wait-time","children":[]},{"id":"ci_910d60bbe9f660885277c7f056e06aab5de5c33f6ebbf17b74ff283436d5b1c2","title":"exit()","path":"/ko/programming-manual/3.6.0/publish/exit","children":[]},{"id":"ci_23ddfd1121b25f45a4a78f4d45d8eb5dda0b1dded166872e341fdc5763acec2b","title":"sub_program_run()","path":"/ko/programming-manual/3.6.0/publish/sub_program_run-name","children":[]},{"id":"ci_cabf707bf27ea5141a7e60625aee21d1a9c29de71b61fb91966a6aeb57039f04","title":"drl_report_line()","path":"/ko/programming-manual/3.6.0/publish/drl_report_line-option","children":[]},{"id":"ci_41ce223d42049681236a1e8507e866a0b3906ee9d0a70fc023f34f14eec3578c","title":"set_fm()","path":"/ko/programming-manual/3.6.0/publish/set_fm-key-value","children":[]},{"id":"ci_980f626b19e05aa70d23874552338ead524501c2e5b2eaebea0b6dfc0302ca0d","title":"get_robot_model()","path":"/ko/programming-manual/3.6.0/publish/get_robot_model","children":[]},{"id":"ci_96cde237aae0caf15bd836621f7902860289baa217a6d9ee5a6587bc3c1c10bb","title":"get_robot_serial_num()","path":"/ko/programming-manual/3.6.0/publish/get_robot_serial_num","children":[]},{"id":"ci_8dc61a28e9e033379a22e0ba025307d0a90d7284cd861555b4c6847145a79782","title":"check_robot_jts()","path":"/ko/programming-manual/3.6.0/publish/check_robot_jts","children":[]},{"id":"ci_e8f44632f96371d81dea9e34add3d504a1301f1586ce40596f650a1e8bc626e2","title":"check_robot_fts()","path":"/ko/programming-manual/3.6.0/publish/check_robot_fts","children":[]},{"id":"ci_96c6e6de2f198207a509fae2849bb9afe04811b85337c6e05b294a4316a41fb6","title":"start_timer()","path":"/ko/programming-manual/3.6.0/publish/start_timer","children":[]},{"id":"ci_50a0c2f2b03de5d432bddc8f1a4cbe9efe4c4773abf6175975b62785ef7f916f","title":"end_timer()","path":"/ko/programming-manual/3.6.0/publish/end_timer","children":[]},{"id":"ci_2256efa77d1187921fec4e325bb64914260a65990595d90c90b9400bc54a18b8","title":"message_to_dp()","path":"/ko/programming-manual/3.6.0/publish/message_to_dp-event_name-strdata","children":[]},{"id":"ci_7d660f39483f163ed079b73f693b2447cec63041499b32ccac35fe2d250163df","title":"send_load_module()","path":"/ko/programming-manual/3.6.0/publish/send_load_module-package-sub_type-active","children":[]},{"id":"ci_55262c332a11461ce72f208c38841e3cc686f605f9aef9b661907fa9abaa225a","title":"send_unload_module()","path":"/ko/programming-manual/3.6.0/publish/send_unload_module-unique_id","children":[]}]}]},{"id":"ci_bbcafb0376d9bb6151b414177849b9938fadbdc85c26f9ab5df5c5f972c62cf8","title":"수학 함수","path":"/ko/programming-manual/3.6.0/publish/-33","children":[{"id":"ci_23f683035862c31e5b28206f06275daa68082854554120509df64c6a3f68a744","title":"기본 함수","path":"/ko/programming-manual/3.6.0/publish/-34","children":[{"id":"ci_0a932145f5b2838d64941b990f4c2230f9e358e396045715c45682960d24205d","title":"ceil(x)","path":"/ko/programming-manual/3.6.0/publish/ceil-x","children":[]},{"id":"ci_becab29acf96faba17182ff438437b9bedb7bda893fc40cf60fc50d12bb288d4","title":"floor(x)","path":"/ko/programming-manual/3.6.0/publish/floor-x","children":[]},{"id":"ci_0d1913eda9fdb0135842ee9ae9f859cee29dc3abdceb1242d72c6d29cc2a1e59","title":"pow(x, y)","path":"/ko/programming-manual/3.6.0/publish/pow-x-y","children":[]},{"id":"ci_6fb409e4f1904a38659cd11a717b272769cda6e169b608a42faab8af7b972e3c","title":"sqrt(x)","path":"/ko/programming-manual/3.6.0/publish/sqrt-x","children":[]},{"id":"ci_5151173da10f5328ebd168b33c66cc9a9182240c55867889fbaf33bfbe428dc9","title":"log(x, b)","path":"/ko/programming-manual/3.6.0/publish/log-x-b","children":[]},{"id":"ci_ff848ab707a824c4fcc93b9074323959f46df4a4d1f953bd663237ce8302e0f2","title":"d2r(x)","path":"/ko/programming-manual/3.6.0/publish/d2r-x","children":[]},{"id":"ci_30098b0cc057c851d84dc935e3cbf2cf70d995dd53ebd93b5e9d9dd71b61e881","title":"r2d(x)","path":"/ko/programming-manual/3.6.0/publish/r2d-x","children":[]},{"id":"ci_4964dfdf1e27662a6c455990db1dacedb36cf2f665ce1ae74a03872dcf508787","title":"random()","path":"/ko/programming-manual/3.6.0/publish/random","children":[]}]},{"id":"ci_f22233dbf764212478c46b3c4c4cf03d2e3ebbc2888d26d33203c582d740d8d4","title":"삼각함수","path":"/ko/programming-manual/3.6.0/publish/-35","children":[{"id":"ci_d4e1758a20bc7f3933cf62ba65da24ecc19684869f90a62f2d8b3e4bb99451e9","title":"sin(x)","path":"/ko/programming-manual/3.6.0/publish/sin-x","children":[]},{"id":"ci_91c226616528304822eab2b03647f1e9c84b6da717fbdcc99dc6039c0fc7116e","title":"cos(x)","path":"/ko/programming-manual/3.6.0/publish/cos-x","children":[]},{"id":"ci_930aac8ec3bdcf8ca5a5eb3c52e17e02b0e559c30650ba6ff26f0e651a21264f","title":"tan(x)","path":"/ko/programming-manual/3.6.0/publish/tan-x","children":[]},{"id":"ci_509f0c7b362927ee7583518cb64195afcc1f98e743ed68c70aa390ca7c6638e9","title":"asin(x)","path":"/ko/programming-manual/3.6.0/publish/asin-x","children":[]},{"id":"ci_31484a916b4a6a2f6fd63dc81ca3e526c99614661e2a7f5e732d00864d344690","title":"acos(x)","path":"/ko/programming-manual/3.6.0/publish/acos-x","children":[]},{"id":"ci_4211bc047115663cba3e27c7f52a1b7114ca46a956e03e71e605412162d4ce20","title":"atan(x)","path":"/ko/programming-manual/3.6.0/publish/atan-x","children":[]},{"id":"ci_e3c0fcb1d7262f1e1dd2226d0e36a30999cddd780f169ae221dc3045d43a8069","title":"atan2(y, x)","path":"/ko/programming-manual/3.6.0/publish/atan2-y-x","children":[]}]},{"id":"ci_0175096defb11c79e696cc4a199f09701d8c38040ae005c1ce587f77ad5c208e","title":"선형대수","path":"/ko/programming-manual/3.6.0/publish/-36","children":[{"id":"ci_c00e15d8e9d8e271c6723280534a9b6f22e966e178f0a4100e04fdc76838d8f8","title":"norm(x)","path":"/ko/programming-manual/3.6.0/publish/norm-x","children":[]},{"id":"ci_71e25c796eb6da908ce94b7e632dc8e7366242d62ab061ba12544f98a45962eb","title":"rotx(angle)","path":"/ko/programming-manual/3.6.0/publish/rotx-angle","children":[]},{"id":"ci_a98891b4586dcc96570d3154c40dab2d6aa641dcf90ae1300df69a65d1a8a6d2","title":"roty(angle)","path":"/ko/programming-manual/3.6.0/publish/roty-angle","children":[]},{"id":"ci_3925071450ece93209a07c8b403012ba643dd9a97b6f71f4436cea1d7102ff2d","title":"rotz(angle)","path":"/ko/programming-manual/3.6.0/publish/rotz-angle","children":[]},{"id":"ci_0f3fc9dc8992790f7d772bd6a8e008bbd8243981bf2c7cd2e0955573e40b5e72","title":"rotm2eul(rotm)","path":"/ko/programming-manual/3.6.0/publish/rotm2eul-rotm","children":[]},{"id":"ci_c3fb48e8702752f179665dad88f7fec58e25f071f5c3b5228a17513fd3ea7731","title":"rotm2rotvec(rotm)","path":"/ko/programming-manual/3.6.0/publish/rotm2rotvec-rotm","children":[]},{"id":"ci_e630be94113da37c391772fa59da1bfcb5a465be1a4ffea50741b8ec169ec3bf","title":"eul2rotm([alpha,beta,gamma])","path":"/ko/programming-manual/3.6.0/publish/eul2rotm-alpha-beta-gamma","children":[]},{"id":"ci_a28e1ffbf3311d3a20db4419a10f9d9617b9962ebe2e7cea22bc12396d2b41c0","title":"eul2rotvec([alpha,beta,gamma])","path":"/ko/programming-manual/3.6.0/publish/eul2rotvec-alpha-beta-gamma","children":[]},{"id":"ci_3ddff25df2815f310492fa062ccb17261ed80ebd58734cf57fbe38c305207054","title":"eul2rpy([alpha,beta,gamma])","path":"/ko/programming-manual/3.6.0/publish/eul2rpy-alpha-beta-gamma","children":[]},{"id":"ci_20de3e13d1859d06f9e355763fd582e3530e85757fef5597ecadedf2c3f806f9","title":"rpy2eul([yaw,pitch,roll])","path":"/ko/programming-manual/3.6.0/publish/rpy2eul-yaw-pitch-roll","children":[]},{"id":"ci_a6d44f73e72ff11637f87bb5ef9384d19aab4b9c41d7962edc11af2466ef0300","title":"rotvec2eul([rx,ry,rz])","path":"/ko/programming-manual/3.6.0/publish/rotvec2eul-rx-ry-rz","children":[]},{"id":"ci_e5d21b486f2d008a2f4b14fb307f876e6281f952d806d8172146c4dc89fb5892","title":"rotvec2rotm([rx,ry,rz])","path":"/ko/programming-manual/3.6.0/publish/rotvec2rotm-rx-ry-rz","children":[]},{"id":"ci_3d67c02f80b7afd1ae59d8b48518cb2491a9c52cd443d31ac1d67566df840bf1","title":"htrans()","path":"/ko/programming-manual/3.6.0/publish/htrans-posx1-posx2","children":[]},{"id":"ci_1cad9aad245fc92d8c009ff087a78d79c5703487f346fdd995e7b114f5a74931","title":"get_intermediate_pose()","path":"/ko/programming-manual/3.6.0/publish/get_intermediate_pose-posx1-posx2-alpha","children":[]},{"id":"ci_25c15d1c2064c0b6871f8fefa45cc9e37c12d3ba6d42b94d3fea69b691eb19c6","title":"get_distance()","path":"/ko/programming-manual/3.6.0/publish/get_distance-posx1-posx2","children":[]},{"id":"ci_e346dbb8e964d2da7e8179f4ee776d6a8e6a4c3a75dd5d60d55d71846c750064","title":"get_normal()","path":"/ko/programming-manual/3.6.0/publish/get_normal-x1-x2-x3","children":[]},{"id":"ci_af036ccd0aab97ffb6ddf23b99250e0e42b67414faa85a351941b72f79c29c8d","title":"add_pose()","path":"/ko/programming-manual/3.6.0/publish/add_pose-posx1-posx2","children":[]},{"id":"ci_dbc29ee7a23add45f0f3bfc104e7a33998781a24aae1bda6a3379cf1f80f9142","title":"subtract_pose()","path":"/ko/programming-manual/3.6.0/publish/subtract_pose-posx1-posx2","children":[]},{"id":"ci_b1ad23e87b82e5d19fd1ee0e81e1f2f7d355a13639b505698b2e5f743b673699","title":"inverse_pose()","path":"/ko/programming-manual/3.6.0/publish/inverse_pose-posx1","children":[]},{"id":"ci_3f3915e3b67a4c0c7c7e3588864e8c869592ea2b4418f514e87cfd6d66718b52","title":"dot_pose()","path":"/ko/programming-manual/3.6.0/publish/dot_pose-posx1-posx2","children":[]},{"id":"ci_df1f2010251351b14f3c888ef782f779acc0f5f881ccea589b895ef532275d7c","title":"cross_pose()","path":"/ko/programming-manual/3.6.0/publish/cross_pose-posx1-posx2","children":[]},{"id":"ci_1d27ba16a1a7e31429f8c38f3b5a138075ec9250c70708c5b3c57d65809fcc6a","title":"unit_pose()","path":"/ko/programming-manual/3.6.0/publish/unit_pose-posx1","children":[]}]}]},{"id":"ci_b1b522367c5f8e7150417db5fefc99043608ce77ff60ee0649287803e8a218aa","title":"외부 통신 명령어","path":"/ko/programming-manual/3.6.0/publish/-17","children":[{"id":"ci_586c63f13f9b3c0657f17a29b1b0cd4765f3c66497cb70c6e33a07feb1b0a34b","title":"Serial","path":"/ko/programming-manual/3.6.0/publish/serial","children":[{"id":"ci_508f9c1bf21952ca30a1d4e53d6ecfdb32da22248eed6914c08c06e5184c75c5","title":"serial_open()","path":"/ko/programming-manual/3.6.0/publish/serial_open-port-none-baudrate-115200-bytesize-dr_","children":[]},{"id":"ci_c39551bc27b0c1cf0dfa890fffed2a1935a4b9f41a251dc25154b575cc5ef4ae","title":"serial_close()","path":"/ko/programming-manual/3.6.0/publish/serial_close-ser","children":[]},{"id":"ci_34f871f0794492f3fde268abcbd3a6bb890420b9af17b3544084dbb0a26f3d30","title":"serial_state()","path":"/ko/programming-manual/3.6.0/publish/serial_state-ser","children":[]},{"id":"ci_c468bd3b17fd4496159ec7af839a129512869ddd38e96829f1b1b84bb53b09f4","title":"serial_set_inter_byte_timeout()","path":"/ko/programming-manual/3.6.0/publish/serial_set_inter_byte_timeout-ser-timeout-none","children":[]},{"id":"ci_61ef5183ab7aed6d65065a499c34d169526025bb6168b56584c8c078ea86e20e","title":"serial_write()","path":"/ko/programming-manual/3.6.0/publish/serial_write-ser-tx_data","children":[]},{"id":"ci_0c997bc107a98052ffe263b59362609911362924a8dfcde5548731892ba09c67","title":"serial_read()","path":"/ko/programming-manual/3.6.0/publish/serial_read-ser-length-1-timeout-1","children":[]},{"id":"ci_b7d296b01c301d35873aed2f2bc5b472c2482fd5068a32137aae11a75fa9d5b2","title":"serial_get_count()","path":"/ko/programming-manual/3.6.0/publish/serial_get_count","children":[]},{"id":"ci_bd831882ce92c96cdc0f9b91912cea761f8e715a56aadb5acb9e265cff8675b5","title":"serial_get_info()","path":"/ko/programming-manual/3.6.0/publish/serial_get_info-id","children":[]},{"id":"ci_a2dec1a81ff50b6dfc831d6d77acc4f11a8bd76c4320dabe02d733497fb72edd","title":"통합 예제 - Serial","path":"/ko/programming-manual/3.6.0/publish/serial-1","children":[]}]},{"id":"ci_312f825c4cddacd6ab6536c8211af1c37f2171fcb69485676a551e21bab30f15","title":"플랜지 I/O","path":"/ko/programming-manual/3.6.0/publish/i-o","children":[{"id":"ci_4878cab64d38d6c38e0195f34985ebae63d3f27e23954716f3f74d787020cf00","title":"flange_serial_open()","path":"/ko/programming-manual/3.6.0/publish/flange_serial_open-baudrate-115200-bytesize-dr_eig","children":[]},{"id":"ci_1ff21c61f3c7592c82b76800f3cf49ca0a87e5db242ec7ddaafce8726fc30a2b","title":"flange_serial_read()","path":"/ko/programming-manual/3.6.0/publish/flange_serial_read-timeout-none","children":[]},{"id":"ci_67ec128f538c6c12461128b1472247cce665454327f52e5bbc76f1dbbb8e96a8","title":"flange_serial_write()","path":"/ko/programming-manual/3.6.0/publish/flange_serial_write-tx_data","children":[]},{"id":"ci_e770bae5ced5ef5489cead7c86ab0959b2da724557915c37e0725b1fc3b8320e","title":"flange_serial_close()","path":"/ko/programming-manual/3.6.0/publish/flange_serial_close","children":[]},{"id":"ci_0979f52d6cc396455cd9ad89ce8bea74402d9d0e9b81e47c29a36ccc1e8ebda1","title":"통합 예제 - Serial(플랜지 I/O)","path":"/ko/programming-manual/3.6.0/publish/a-series-1","children":[]}]},{"id":"ci_0d02eb988f6d4f24b2e201efa6ca032159cb9d7e2dffb36af6b3812fe633fb1d","title":"Tcp/Client","path":"/ko/programming-manual/3.6.0/publish/tcp-client","children":[{"id":"ci_3afb3d1b5791c8e00af777448a7e4d45f8853738f608ac0fe39550011d795ccf","title":"client_socket_open()","path":"/ko/programming-manual/3.6.0/publish/client_socket_open-ip-port","children":[]},{"id":"ci_22c1e50e71feebd822e713d940f8a51408d0cef61c20b7efb8c7ed0d6e7eb090","title":"client_socket_close()","path":"/ko/programming-manual/3.6.0/publish/client_socket_close-sock","children":[]},{"id":"ci_f5dda3432baad92d734e66bc11ada15cfaea44ee901d2c8916a47be30a030bf2","title":"client_socket_state()","path":"/ko/programming-manual/3.6.0/publish/client_socket_state-sock","children":[]},{"id":"ci_d4923be9d6e595546d067477214dac262641c97c2442e5ee29f9fd399dde8ec8","title":"client_socket_write()","path":"/ko/programming-manual/3.6.0/publish/client_socket_write-sock-tx_data","children":[]},{"id":"ci_1b0a4037127b103c00d228309e89770e0123098a82778ea04e232f99e174496b","title":"client_socket_read()","path":"/ko/programming-manual/3.6.0/publish/client_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_da505eb884530c28ace9e32eda85e39e410b33a151e1a3229458bd7a5385b4e8","title":"통합 예제 (Tcp/Client)","path":"/ko/programming-manual/3.6.0/publish/tcp-client-1","children":[]}]},{"id":"ci_a88525d4cfb3318510cf856727520c0bec83a684be34996e90fcd4c9770cae45","title":"Tcp/Server","path":"/ko/programming-manual/3.6.0/publish/tcp-server","children":[{"id":"ci_4968dc6ed7306ea75d0294f37ec7a78a3922fd1cd9b12ec3828c7388eb99591b","title":"server_socket_open()","path":"/ko/programming-manual/3.6.0/publish/server_socket_open-port","children":[]},{"id":"ci_2fa7f6be8020bac10961c766e4de1a4fe9033e04d61723e26c0f9d8044915140","title":"server_socket_close()","path":"/ko/programming-manual/3.6.0/publish/server_socket_close-sock","children":[]},{"id":"ci_bccafc1d2d1642215c7277d3ee5df96a1fbef91bba087f857655afdbb8def5cb","title":"server_socket_state()","path":"/ko/programming-manual/3.6.0/publish/server_socket_state-sock","children":[]},{"id":"ci_7898675bd3cad3b5e343bd3e200bb9c5c19220671ee76bb0d09efbb68c79890c","title":"server_socket_write()","path":"/ko/programming-manual/3.6.0/publish/server_socket_write-sock-tx_data","children":[]},{"id":"ci_fd268b69b5c702978d23b7506811a4f4c8c5a12c873b6175d65cee8fbfd1ecc0","title":"server_socket_read()","path":"/ko/programming-manual/3.6.0/publish/server_socket_read-sock-length-1-timeout-1","children":[]},{"id":"ci_b2f06e814f810ed7c219d80769f89ed24a2b84efba9ebc794b9474af2b2494b5","title":"통합 예제 - Tcp/Server","path":"/ko/programming-manual/3.6.0/publish/tcp-server-1","children":[]}]},{"id":"ci_42f28dec649fba7e70c1cff88592386517dae5e18889684bf30f7325e4c96bd3","title":"Modbus","path":"/ko/programming-manual/3.6.0/publish/modbus","children":[{"id":"ci_ebd55c43b9203c9ad5926fd3410f96c2913dd95981af52f9719baa08a4b20e12","title":"add_modbus_signal()","path":"/ko/programming-manual/3.6.0/publish/add_modbus_signal-ip-port-name-reg_type-index-valu","children":[]},{"id":"ci_2fe6cb04c3f19ba9071c191d48d34d5f1840952a9bfb4e1efc033116240cfbe1","title":"add_modbus_rtu_signal()","path":"/ko/programming-manual/3.6.0/publish/add_modbus_rtu_signal-slaveid-1-port-none-baudrate","children":[]},{"id":"ci_90232135cfa99b0cfd2a13dad7f53485cb648a850511c315229d4505b4537d72","title":"add_modbus_signal_multi()","path":"/ko/programming-manual/3.6.0/publish/add_modbus_signal_multi-ip-port-slaveid-255-name-n","children":[]},{"id":"ci_62627f8910ed1bdab089f0d0eab99a01af368c5fc100cf23628f9caaf17207dc","title":"add_modbus_rtu_signal_multi()","path":"/ko/programming-manual/3.6.0/publish/add_modbus_rtu_signal_multi-slaveid-1-port-none-ba","children":[]},{"id":"ci_372cc9546de829179e1f93f936f1dafef93fc587a63cb70895490a73739f1d80","title":"del_modbus_signal()","path":"/ko/programming-manual/3.6.0/publish/del_modbus_signal-name","children":[]},{"id":"ci_bfcee0e317d4fecd7e47083aa66f6b0df66f3c0340beb5116a235485d5091b1b","title":"del_modbus_signal_multi()","path":"/ko/programming-manual/3.6.0/publish/del_modbus_signal_multi-name","children":[]},{"id":"ci_057bbb5ca4fcb37355062590596610c6e7caca8296bc1b47030437704732d304","title":"set_modbus_output()","path":"/ko/programming-manual/3.6.0/publish/set_modbus_output-iobus-value","children":[]},{"id":"ci_889cc6ffffabaa1632e06b26946824b062ad729f8a0897c829d1e8a3c09c7ad2","title":"set_modbus_outputs()","path":"/ko/programming-manual/3.6.0/publish/set_modbus_outputs-iobus_list-val_list","children":[]},{"id":"ci_6afb0805d1dc4650977e9363f9e93413ab6459c20bb0de1f726fb037fa713737","title":"set_modbus_output_multi()","path":"/ko/programming-manual/3.6.0/publish/set_modbus_output_multi-iobus-val_list","children":[]},{"id":"ci_1184c08079416b4653fac8d8ea887181666d90c800355642781f87597d895d6c","title":"get_modbus_input()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_input-iobus","children":[]},{"id":"ci_f38c1ee271f610f8b5c7bc24b9a45f7da418349b8a6371b5139a331bc2e90f2d","title":"get_modbus_inputs()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_inputs-iobus_list","children":[]},{"id":"ci_cb58012a7e124bdae2e873d71df11254eb45e040dca795035daf6fdf030ff0b6","title":"get_modbus_inputs_list()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_inputs_list-iobus_list","children":[]},{"id":"ci_036058485803908e40e576e23cdf8f9e7ee3e83dd2a9ec5e03976517702b4662","title":"get_modbus_input_multi()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_input_multi-iobus","children":[]},{"id":"ci_5ef1c898d1e649804695755fc821d9aad06953dc9144ef7877b634e2c64d7aef","title":"wait_modbus_input()","path":"/ko/programming-manual/3.6.0/publish/wait_modbus_input-iobus-val-timeout-none","children":[]},{"id":"ci_d48b784a2d9aa30233b7a993a59190b3d917aeaad155fb2e88cec75c5303d5a4","title":"set_modbus_slave()","path":"/ko/programming-manual/3.6.0/publish/set_modbus_slave-address-val","children":[]},{"id":"ci_503b88c292f3bc2317576ae04d72925cfa4eb37c95a8aacbf98e6e75f0294117","title":"get_modbus_slave()","path":"/ko/programming-manual/3.6.0/publish/get_modbus_slave-address","children":[]},{"id":"ci_f9b9f8de8adda24542845ba028cfc9bb50ccdde55a4eb383639da29c7621f8c0","title":"modbus_crc16()","path":"/ko/programming-manual/3.6.0/publish/modbus_crc16-data","children":[]},{"id":"ci_f01bab1ea57ed928e9fe819093848f23966f95c8695cae28c3107c0fc0d6109f","title":"modbus_send_make()","path":"/ko/programming-manual/3.6.0/publish/modbus_send_make-send_data","children":[]},{"id":"ci_aeea46d2778b1e21ef232d4cd6cbebc17522fc5ca18c95dc2d2b7ea50352ef48","title":"modbus_recv_check()","path":"/ko/programming-manual/3.6.0/publish/modbus_recv_check-recv_data","children":[]},{"id":"ci_211e82bd022ced24189ca2e1103783d676149e3b9b078fcfad0adb7b8c8b3fe1","title":"modbus_unsigned_to_signed()","path":"/ko/programming-manual/3.6.0/publish/modbus_unsigned_to_signed-unsigned_data","children":[]}]},{"id":"ci_18a440af009ff381ec8e26c24cc0084f863e129079d5b42a50f51c913d8ffbb6","title":"Industrial Ethernet (EtherNet/IP,PROFINET)","path":"/ko/programming-manual/3.6.0/publish/industrial-ethernet-ethernet-ip-profinet","children":[{"id":"ci_715260487da45d8070454b59396859e63fc01db57d3e6682f4a669ed379e1a04","title":"set_output_register_bit()","path":"/ko/programming-manual/3.6.0/publish/set_output_register_bit-address-val","children":[]},{"id":"ci_06ed5d42bdb33e207071996026390713f13c530f54e4f1cd1c15f950db8226b7","title":"set_output_register_int()","path":"/ko/programming-manual/3.6.0/publish/set_output_register_int-address-val","children":[]},{"id":"ci_9c9c3d9eb314c080a53491c16aa1656d824641c4e7d5cac4f9600090a8419143","title":"set_output_register_float()","path":"/ko/programming-manual/3.6.0/publish/set_output_register_float-address-val","children":[]},{"id":"ci_1a89edd277b4d232802db729d90dd76fa5c17870037686925c007b204d693316","title":"get_output_register_bit()","path":"/ko/programming-manual/3.6.0/publish/get_output_register_bit-address","children":[]},{"id":"ci_bbc1f66d58090eae491d1bdff2181b7de613c06703fe3d4a097f7b29cde39306","title":"get_output_register_int()","path":"/ko/programming-manual/3.6.0/publish/get_output_register_int-address","children":[]},{"id":"ci_7d6d0d7eab7545ca163dbd05efb42885595e7bd3bc70d1360bba241a07d571cd","title":"get_output_register_float()","path":"/ko/programming-manual/3.6.0/publish/get_output_register_float-address","children":[]},{"id":"ci_fb94516a70d0f38de6c7fb47b759aca1e0164e973420035e041d004a3ef1896c","title":"get_input_register_bit()","path":"/ko/programming-manual/3.6.0/publish/get_input_register_bit-address","children":[]},{"id":"ci_2c1e481aac6a41df0c9d7ede125ae027fcc999929f2d4aa4e2ec457ff6cd170f","title":"get_input_register_int()","path":"/ko/programming-manual/3.6.0/publish/get_input_register_int-address","children":[]},{"id":"ci_aee9be49a3596961aed04a3192574a268ac8581a7b363129b0d02a44bd97866c","title":"get_input_register_float()","path":"/ko/programming-manual/3.6.0/publish/get_input_register_float-address","children":[]},{"id":"ci_f8ded7f80a94be3bc0e1c14cb83aa9991422aa1d1164479ae952d55d0ace3221","title":"set_eip_gpr_expand_output_register_bit()","path":"/ko/programming-manual/3.6.0/publish/set_eip_gpr_expand_output_register_bit","children":[]},{"id":"ci_b99357a4422b9907f15440c0485d1cfc6ecac719f579b5703af88e8f7d0e3f7a","title":"set_eip_gpr_expand_output_register_int()","path":"/ko/programming-manual/3.6.0/publish/set_eip_gpr_expand_output_register_int","children":[]},{"id":"ci_347fb611c42079c64a554aae6573a3158067dc9ada303d1ca3643b792a125442","title":"set_eip_gpr_expand_output_register_float()","path":"/ko/programming-manual/3.6.0/publish/set_eip_gpr_expand_output_register_float","children":[]},{"id":"ci_a0a76a6a18fdd283e0a250cf38bd6d94a38a02752c3a38acd367012ae54c7f86","title":"get_eip_gpr_expand_output_register_bit()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_output_register_bit","children":[]},{"id":"ci_05ea31601397bc866a9614e055ca363d06dd4084851e90727917b16214113238","title":"get_eip_gpr_expand_output_register_int()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_output_register_int","children":[]},{"id":"ci_701a5acdab96ad8565df8c4bc6058d613392d634a53d868013660bf0eb7b816b","title":"get_eip_gpr_expand_output_register_float()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_output_register_float","children":[]},{"id":"ci_bb9428990bc9545fcb0ec3154ec04e817b65a80654404e64c725188c13988bce","title":"get_eip_gpr_expand_input_register_bit()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_input_register_bit","children":[]},{"id":"ci_ff8afe0bdc4cd9c1c857a3280cfbbf918e8a924f12dacadae595757394a05c6d","title":"get_eip_gpr_expand_input_register_int()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_input_register_int","children":[]},{"id":"ci_2fa24297345a73cc5fb4518a9ec286f22f7078dac7572cf6a498c663e73e6068","title":"get_eip_gpr_expand_input_register_float()","path":"/ko/programming-manual/3.6.0/publish/get_eip_gpr_expand_input_register_float","children":[]}]},{"id":"ci_835cd2163e4e6005764758858afaf7300442293b75368b22ac73c3a59541de27","title":"FOCAS","path":"/ko/programming-manual/3.6.0/publish/focas","children":[{"id":"ci_a435ecbe291d98a69157f826f76dde5dd238b06e3bf0fba3801ef07734bd464a","title":"focas_connect()","path":"/ko/programming-manual/3.6.0/publish/focas_connect-ip-port-timeout","children":[]},{"id":"ci_540a589ddf4b0b645c521a63051c37457196ec515f9dbfbbda80b3879bd539be","title":"focas_disconnect()","path":"/ko/programming-manual/3.6.0/publish/focas_disconnect-handle","children":[]},{"id":"ci_e024f1aea1e7de5fd7c52da5f7eb22d8df37491590742223afe83be359f28f5e","title":"focas_pmc_read_bit()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_bit-handle-addr_type-start_num-bit_","children":[]},{"id":"ci_3006105e54ce809d936834d4502542d8491784fbc312a08a779d22c7985457d4","title":"focas_pmc_read_char()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_char-handle-addr_type-start_num-rea","children":[]},{"id":"ci_b31bdeac3b38c024e4b72cef1c60b09c10518a7ec1b0c512a961b100e5dbc43d","title":"focas_pmc_read_word()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_word-handle-addr_type-start_num-rea","children":[]},{"id":"ci_114183e4a2f35890340d936935218cb059fd5a6fa71f89c5f916bfeb01b8f179","title":"focas_pmc_read_long()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_long-handle-addr_type-start_num-rea","children":[]},{"id":"ci_0623502c4b591d5a31c0d02f4db94e7ddf9f3afb73a4c8a97c5bfe69f1f8498e","title":"focas_pmc_read_float()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_float-handle-addr_type-start_num-re","children":[]},{"id":"ci_8263bce0f3043c6ff9d95ab7e0e2acf43751967e6f3bebc5fcc4c703e265e772","title":"focas_pmc_read_double()","path":"/ko/programming-manual/3.6.0/publish/focas_pmc_read_double","children":[]},{"id":"ci_b17a93dc993374d71771d20760cbc874c997427ecf3ac5f0720ac4b8b0a2fb91","title":"focas_get_error_str()","path":"/ko/programming-manual/3.6.0/publish/focas_get_error_str-handle-errorcode","children":[]}]}]},{"id":"ci_9fb82b3b7370d1947cd54e8a6d5f9e4e9ec2c11b4f0c74782b95266cad7bfe7e","title":"Application 명령어","path":"/ko/programming-manual/3.6.0/publish/application","children":[{"id":"ci_a332ae82749560329a190385ed388a8b609af571e9f98c8839d2a9e596529d12","title":"External Encoder 설정 명령어","path":"/ko/programming-manual/3.6.0/publish/external-encoder","children":[{"id":"ci_5f3a8d28fad5f8e8b8ad9da9f73cb6e0af27230e203c1a7d4771969c533441bc","title":"set_extenc_polarity()","path":"/ko/programming-manual/3.6.0/publish/set_extenc_polarity-channel-polarity_a-polarity_b-","children":[]},{"id":"ci_223cbc235bf938077126f5926251fc786da749a182b4e0fc1bb0d7cb59d1569c","title":"set_extenc_mode()","path":"/ko/programming-manual/3.6.0/publish/set_extenc_mode-channel-mode_ab-pulse_az-mode_z-mo","children":[]},{"id":"ci_1cb4fe9cb8e3387c67b55afaa4fb11d4919d69318730c0995584b63fee0d9f07","title":"get_extenc_count()","path":"/ko/programming-manual/3.6.0/publish/get_extenc_count-channel","children":[]},{"id":"ci_cbbdc205902dc98c03030a1ec852b92b52fffdd103d0224413b20fef7182b2e5","title":"clear_extenc_count()","path":"/ko/programming-manual/3.6.0/publish/clear_extenc_count-channel","children":[]}]},{"id":"ci_812ea432516ba677e771cbffba42e911607e45fbe7fe9fdfe8b280cdc9628952","title":"Conveyor Tracking","path":"/ko/programming-manual/3.6.0/publish/conveyor-tracking","children":[{"id":"ci_afffdfd69dcf15f856e46d23a05a64e48c7c63e4d90a49aae62b1f33dc590485","title":"set_conveyor_ex()","path":"/ko/programming-manual/3.6.0/publish/set_conveyor_ex-name-conv_type-0-encoder_channel-1","children":[]},{"id":"ci_76770430a39e7ffafa7ef90b5d50dff43c0912e7990fa72acc8822168ba4481c","title":"get_conveyor_obj()","path":"/ko/programming-manual/3.6.0/publish/get_conveyor_obj-conv_id-timeout-none-container_ty","children":[]},{"id":"ci_ee771f7a5f3c9cbc3a44db8965b73a44090d71c4bfabe5d827573e918a6e98d8","title":"tracking_conveyor()","path":"/ko/programming-manual/3.6.0/publish/tracking_conveyor-conv_id-time-0-3","children":[]},{"id":"ci_7959d56a28a8be59457fb98b5e98bb4b04a458656ca1db9821f639d3ef60e993","title":"untracking_conveyor()","path":"/ko/programming-manual/3.6.0/publish/untracking_conveyor-conv_id-time-0-3","children":[]}]},{"id":"ci_5e0357fa48b599d7c3da868e06f9ddeebe1e510e80afd8ad3ea175ed9a17751d","title":"Welding","path":"/ko/programming-manual/3.6.0/publish/welding","children":[{"id":"ci_70ba65d0190402ce39ce3525731db0f11be2756957cd87c99ee99ba092023a9d","title":"app_weld_enable_digital()","path":"/ko/programming-manual/3.6.0/publish/app_weld_enable_digital","children":[]},{"id":"ci_98b52f46c4232a924a8047a3edd649be3212031b33cf0611cb87b8d75790df7c","title":"app_weld_disable_digital()","path":"/ko/programming-manual/3.6.0/publish/app_weld_disable_digital","children":[]},{"id":"ci_13059780cad2be62b14ea37200819af9a392286d2af80e47728a70d5a73453ee","title":"app_weld_set_interface_eip_r2m_process()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_r2m_process-welding_sta","children":[]},{"id":"ci_9df557928b400f6a9e89a6216552045265f1127fca048b4a8eccad010cba6788","title":"app_weld_set_interface_eip_r2m_mode()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_r2m_mode-welding_mode-0","children":[]},{"id":"ci_63176733cd316eaf4beb4d6401984dd98252f9e475940009b0cbbc5f9a926701","title":"app_weld_set_interface_eip_r2m_test()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_r2m_test-gas_test-0-0-0","children":[]},{"id":"ci_004e0fa9cd62c019ecde9bc46513aafd6f69b9459a9f944739c136b3587759b1","title":"app_weld_set_interface_eip_r2m_condition()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_r2m_condition-job_num-0","children":[]},{"id":"ci_568c3eca06937036d2ef969eb7a5552ac33178024fdad908fb960c04517b7534","title":"app_weld_set_interface_eip_r2m_option()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_r2m_option-opt1-0-0-0-0","children":[]},{"id":"ci_02b086334923de788c8320afd34f18e94a4db253ef736de9953eddd05739e2fd","title":"app_weld_set_interface_eip_m2r_process()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_m2r_process-current_flo","children":[]},{"id":"ci_5578d6f418112d205be519b47a6ff765a05758319474e333725f51a9d4a8e322","title":"app_weld_set_interface_eip_m2r_monitoring()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_m2r_monitoring-welding_","children":[]},{"id":"ci_515fa3bf8e2811f45b31faa5a584f061aebb4676e687ed91539a6de7fe274c1f","title":"app_weld_set_interface_eip_m2r_other()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_interface_eip_m2r_other-opt1-0-0-0-0-","children":[]},{"id":"ci_2c3a61012a9ab5b3ac44381a89620a20c62a2a0d837a4f1c7e548e1f3da797e8","title":"app_weld_set_weld_cond_digital()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_weld_cond_digital-flag_dry_run-0-vel_","children":[]},{"id":"ci_94018ab2c9d5ba7761e6541a0ac6e08b05496902d442d31e78469999112e25bf","title":"app_weld_adj_welding_cond_digital()","path":"/ko/programming-manual/3.6.0/publish/app_weld_adj_welding_cond_digital-flag_reset-none-","children":[]},{"id":"ci_afdf0b1e7071d50a93042a0a4a8e79544d1661a93c5928b3b4bbb4580aed9d69","title":"app_weld_get_welding_cond_digital()","path":"/ko/programming-manual/3.6.0/publish/app_weld_get_welding_cond_digital","children":[]},{"id":"ci_be93edce66fe4ea62643232fda04324c1cdc6459b13920855fe93339d0ae3c96","title":"app_weld_enable_analog()","path":"/ko/programming-manual/3.6.0/publish/app_weld_enable_analog-ch_v_out-1-0-spec_v_out-0-0","children":[]},{"id":"ci_3b6b0adb911c221bffe300299e0f194a5ca78896a28824c662493029e7ac8645","title":"app_weld_disable_analog()","path":"/ko/programming-manual/3.6.0/publish/app_weld_disable_analog","children":[]},{"id":"ci_c1c250dbbef1d3dba770849a7cc13d86b76c1fd75d19f2b2472966628ef3334d","title":"app_weld_set_weld_cond_analog()","path":"/ko/programming-manual/3.6.0/publish/app_weld_set_weld_cond_analog-flag_dry_run-0-v_tar","children":[]},{"id":"ci_8172ad2df1296f8c56a72bf270d3160b66f7370df8f8108e0b7d81051a618856","title":"app_weld_adj_welding_cond_analog()","path":"/ko/programming-manual/3.6.0/publish/app_weld_adj_welding_cond_analog-flag_reset-0-v_ta","children":[]},{"id":"ci_2ec324cea5c8e3a505dc57c30ab870ff82e214b778e0acb59de0068dd060c2f8","title":"app_weld_get_welding_cond_analog()","path":"/ko/programming-manual/3.6.0/publish/app_weld_get_welding_cond_analog","children":[]},{"id":"ci_85ec7cf2bdcdc4afb81d51ce07cfb67a3e026a8ae4912f6b9eb566531ad79a79","title":"app_weld_get_extreme_point()","path":"/ko/programming-manual/3.6.0/publish/app_weld_get_extreme_point","children":[]},{"id":"ci_778e511969b50538224ee8ced51a28ace7d1219f078f856110148cdfade87257","title":"app_weld_adj_motion_offset()","path":"/ko/programming-manual/3.6.0/publish/app_weld_adj_motion_offset","children":[]},{"id":"ci_37ec24f6366e780bf19c0554c12fc68d8d0deec918b05b99e39080c13a6d20b8","title":"app_weld_weave_cond_trapezoidal()","path":"/ko/programming-manual/3.6.0/publish/app_weld_weave_cond_trapezoidal-wv_offset-0-0-wv_a","children":[]},{"id":"ci_e8790730d7134d1e36aee130a9c019f47c4eed399c0ffa021227224c84731a3c","title":"app_weld_weave_cond_zigzag()","path":"/ko/programming-manual/3.6.0/publish/app_weld_weave_cond_zigzag-wv_offset-0-0-wv_ang-0-","children":[]},{"id":"ci_997b05e5ab25d33a820a3aa217e940a2e3bde1efaa5aedd84f49ed75a8a2fb68","title":"app_weld_weave_cond_circular()","path":"/ko/programming-manual/3.6.0/publish/app_weld_weave_cond_circular-wv_offset-0-0-wv_ang-","children":[]},{"id":"ci_1f9845bcf48239e46c36faec754439d7c7e0c58773f1a9b0e1ed60db13fe7fcb","title":"app_weld_weave_cond_sinusoidal()","path":"/ko/programming-manual/3.6.0/publish/app_weld_weave_cond_sinusoidal-wv_offset-0-0-wv_an","children":[]},{"id":"ci_cce44458bc583bda1bc4e42afea7a424f7c3a01dfa8af238b8d5e205b40f38c5","title":"app_weld_weave_cond_cwave()","path":"/ko/programming-manual/3.6.0/publish/app_weld_weave_cond_cwave","children":[]},{"id":"ci_11e21e70163034894064b892cf64f69a252e278036051d96d45c1680b99e1fbb","title":"app_weld_signal_contact_status()","path":"/ko/programming-manual/3.6.0/publish/app_weld_signal_contact_status","children":[]}]}]},{"id":"ci_093a72e310254dc4e190926a782524e89c019af8e0ae55b1fa62d833d227137e","title":"A-Series 전용 명령어","path":"/ko/programming-manual/3.6.0/publish/a-series","children":[{"id":"ci_b23fe49dc5a9feaa04ea0044aab176f65b47f86e1bc23648c301479dd94a0627","title":"컨트롤러","path":"/ko/programming-manual/3.6.0/publish/-44","children":[{"id":"ci_c7231e613545642f355598ce1ec6f95f2a67c8a5e365ba97d6c68e837e2ae890","title":"get_function_input()","path":"/ko/programming-manual/3.6.0/publish/get_function_input-index","children":[]}]}]}]