A separate window is used for generating a robot mission from the following basic control commands, for which a user should set necessary parameters:

Free Move - moving to the point with the Cartesian coordinates set by a user;

Step - moving along one of the Cartesian coordinate axes of the gripper for the distance set by a user;

Jog - moving the gripper along one of the six Cartesian coordinate axes with the speed set by a user;

Single Joint Jog - movement in one of the joints with the set speed;

Single Joint Move - moving one of the joints to the position set by a user;

Test - sending stepped control impulses to each DOF driver in turn.