You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

5. Programming Instructions

This section provides important precautions and guidelines for programming the robot system. It outlines the required programming sequence, safe execution procedures, and control limitations that must be observed when developing applications using the Doosan API.

Following these instructions ensures reliable program behavior, prevents unexpected motion, and helps maintain system safety during operation.

Contents

• 5.1 Robot Connection/Release
• 5.2 Robot Initialization
• 5.3 Management of Control Right
• 5.4 Robot Operation Mode
• 5.5 Robot Operation State
• 5.6 Robot state transition
• 5.7 Program Execution and Shutdown
• 5.8 Limits on Robot Safety Setting Function